CN116224283A - Rapid laser calibration system and calibration method for motor-driven platform optical system - Google Patents
Rapid laser calibration system and calibration method for motor-driven platform optical system Download PDFInfo
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- CN116224283A CN116224283A CN202211554314.7A CN202211554314A CN116224283A CN 116224283 A CN116224283 A CN 116224283A CN 202211554314 A CN202211554314 A CN 202211554314A CN 116224283 A CN116224283 A CN 116224283A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
A rapid laser calibration system and a calibration method of an optical system of a maneuvering platform belong to the field of photoelectricity and comprise a calibration theodolite arranged at the head part of the maneuvering platform; a calibration theodolite computer connected with the calibration theodolite; the tested equipment comprises calibrated photoelectric equipment and calibrated non-photoelectric equipment, and the calibrated photoelectric equipment and the calibrated non-photoelectric equipment are both used for visualizing the calibrating theodolite; the tested equipment computer comprises a calibrated photoelectric equipment computer and a calibrated non-photoelectric equipment computer, wherein the calibrated photoelectric equipment computer is connected with the calibrated photoelectric equipment; the calibrating theodolite computer is respectively connected with the calibrated photoelectric equipment computer and the calibrated non-photoelectric equipment computer. The invention is reliable and practical, can realize quick calibration, has high calibration precision, wide application range and low dependence on environmental conditions, and simultaneously has simple calibration operation, thereby being capable of completely replacing the traditional star aiming calibration method.
Description
Technical Field
The invention belongs to the technical field of photoelectricity, and particularly relates to a rapid laser calibration system and a calibration method of an optical system of a mobile platform.
Background
The calibration of the zero-angle consistency of the maneuvering platform system is an important basic work in the system test and use process, and is a precondition and foundation for accurately detecting and tracking targets and accurately performing fire control calculation on the maneuvering platform system.
The angles of the artillery, radar, photoelectric equipment and the like in the maneuvering platform system are installed and detected by taking the maneuvering platform reference plane and the bow-stern line as references. When the device is installed, the mechanical zero positions of the height and direction of the test equipment are firstly adjusted to be consistent with the reference plane and the bow-stern line of the mobile platform, then the electrical zero positions of all the test equipment are adjusted and are fully utilized to be consistent with the reference plane and the bow-stern line of the mobile platform, finally the mechanical zero positions of the test equipment, the electrical zero positions of all the electrical equipment and the reference height and the direction angle zero positions of the mobile platform are kept consistent, and the information of electrical transmission can accurately express actual physical values so as to meet the use requirement of a system.
Under mooring conditions, the calibration of the angle zero consistency of the mobile platform system mainly adopts a sighting star method, and the principle is that a mobile platform coordinate system is used as a reference, and at a certain instant moment, a truth device and tested devices aim at a polar star at the same time, and simultaneously the angle values measured by the truth device and the tested devices are recorded, so that the angle errors of each tested device in azimuth and pitching are obtained. The star aiming method generally adopts a theodolite as truth equipment for angle measurement, the horizontal reference of the theodolite is consistent with the reference plane of the maneuvering platform, the direction reference of the theodolite is consistent with the bow-stern line of the maneuvering platform, and the optical system of the equipment to be tested and the theodolite aim at a star on the sky at the same time, so that the star is selected as an aiming target, the distance of the star is far, and the optical axes of a plurality of equipment aiming the star can be considered to be completely parallel, and the relative positions of the equipment in the coordinate system of the maneuvering platform, the correction of the base lines of the equipment and other factors are not required to be considered during the zero angle inspection, so that the detection work is relatively simple.
Although the existing aiming method can finish the calibration of the angle zero consistency of the mobile platform system to a certain extent, the aiming method has a plurality of problems.
(1) Aiming at the problem of the singleness of the star;
the star selected by aiming the star is usually the north star, other stars are selected less, the north star is selected mainly by considering that the brightness of the north star is proper, no other brighter stars exist in a certain range around the north star, the north star is convenient to identify, the speed of moving in space is slower, the position is relatively fixed, tracking is convenient, and meanwhile, the high and low angles of the north star meet the requirements of the detection of the test equipment and the operation requirements of the theodolite. However, when calibrating, if clouds exist in the air and the stars are blocked, light pollution in the sky in some cities causes the stars to be indistinguishable, and a mobile platform stops at different positions to cause a superstructure to block the stars, the situation that the stars are blocked cannot be checked, and the test progress is directly influenced.
(2) The harsh problem of aiming star conditions;
aiming star must be carried out under the conditions of no wind and no surge and the swing amplitude of the maneuvering platform is not large, if the wind force is large, the maneuvering platform can incline to one side, and once the inclination angle exceeds the high-low angle compensation range of the theodolite, the measuring plane of the theodolite cannot be leveled with the reference plane of the maneuvering platform; if the surge is large, the swing of the maneuvering platform is too frequent, the manual operation of the quadrant and the theodolite for horizontal adjustment and synchronization cannot be realized, and the inspection cannot be normally performed; even if wind power and surge are not large at times, the swing amplitude of some maneuvering platforms is larger and the swing frequency is higher due to smaller water displacement, so that inspection cannot be performed normally.
(3) The inspection accuracy is greatly affected by human factors;
during calibration, the measuring plane of the theodolite and the reference plane of the maneuvering platform are required to be manually adjusted, the gun barrel is manually rocked to aim the axis of the gun barrel at the polar star, the theodolite is manually operated to track the polar star, the manual leveling and tracking operations are completed under the swinging state of the maneuvering platform, if all links are required to be completely coordinated, the whole checking process has very high requirements on operators, the influence of human factors is large, and the measuring precision is difficult to ensure.
(4) The acquisition process of the true value of the measurement data provided by the target range can not be automatically recorded, and the accuracy can not be verified;
at present, the quadrant and theodolite are operated manually under the condition that a maneuvering platform swings, the read data are data when the maneuvering platform swings to a random angle at a certain moment, only manual reading and recording can be performed at present, the process and the measured data cannot be recorded automatically in the forms of data, images and video, once the data are in a problem, the data can only be retested, and the data cannot be analyzed to find the problem existing in the true value measuring process.
Disclosure of Invention
By analyzing the existing aiming star calibration method, the invention researches a rapid laser calibration system and a calibration method of an optical system of a maneuvering platform, thereby solving the technical problems of the existing aiming star calibration method.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention relates to a rapid laser calibration system of an optical system of a maneuvering platform, which comprises the following components:
a calibration theodolite arranged at the head part of the maneuvering platform;
a calibration theodolite computer connected with the calibration theodolite;
the tested equipment comprises calibrated photoelectric equipment and calibrated non-photoelectric equipment, wherein the calibrated photoelectric equipment and the calibrated non-photoelectric equipment both visualize the calibrating theodolite;
the tested equipment computer comprises a calibrated photoelectric equipment computer and a calibrated non-photoelectric equipment computer, wherein the calibrated photoelectric equipment computer is connected with the calibrated photoelectric equipment, and the calibrated non-photoelectric equipment computer is connected with the calibrated non-photoelectric equipment; and the calibrated theodolite computer is respectively connected with the calibrated photoelectric equipment computer and the calibrated non-photoelectric equipment computer.
Furthermore, the calibrated theodolite computer, the calibrated photoelectric device computer, the calibrated non-photoelectric device and the calibrated non-photoelectric device computer are all arranged on the mobile platform.
Further, the calibration theodolite includes: an optical system, an image processing system, and an optoelectronic device; the optical system includes: the system comprises an optical lens group, a main laser static spectroscope, a main system CCD, a main laser static reflecting mirror and a main laser; the optical lens group, the main laser static spectroscope and the main system CDD are sequentially arranged along the propagation direction of the main optical axis of the optical system; the optical lens group is mechanically connected with the photoelectric equipment, and the included angle between the optical lens group and the main optical axis is 90 degrees; the main laser static spectroscope is mechanically connected with the photoelectric equipment, and the included angle between the main laser static spectroscope and the main optical axis is 45 degrees; the CDD of the main system is mechanically connected with the photoelectric equipment, and the included angle between the CDD of the main system and the main optical axis is 0 degree; the main laser emits laser, and the laser sequentially passes through the main laser static reflector and the main laser static spectroscope to be reflected to the optical lens group and is emitted by the optical lens group; external laser is incident to the optical lens group, sequentially passes through the optical lens group and the main laser static spectroscope, and is received and imaged by the CDD of the main system.
Furthermore, the optical lens group adopts an optical coating measure to carry out coating so as to have an anti-reflection effect; the main laser static spectroscope adopts an optical coating measure to carry out coating so as to have a semi-reflecting and semi-transmitting effect; the main system CCD adopts a general CCD; the main laser static reflector adopts an optical coating measure to carry out coating so as to have a reflecting effect; the main laser adopts a universal laser.
Further, the calibration theodolite computer is a general purpose computer; the calibrated photoelectric device is a universal photoelectric device; the calibrated photoelectric equipment computer is a general purpose computer; the marked non-photoelectric device is other general-purpose devices except the general-purpose photoelectric device; the calibrated non-photoelectric equipment computer is a general purpose computer.
The invention relates to a rapid laser calibration method of a mobile platform optical system, which is realized by adopting the rapid laser calibration system of the mobile platform optical system, and comprises the following steps:
firstly, arranging a calibration theodolite at the first part of a mobile platform, and enabling tested equipment on the mobile platform to visually observe the calibration theodolite without physical shielding;
step two, roughly calibrating azimuth angle and pitching angle of the theodolite to enable the theodolite to be visually inspected; meanwhile, the azimuth angle and the pitching angle of the measured equipment are coarse-adjusted, so that the theodolite is calibrated visually;
judging the type of the tested equipment, and when the tested equipment is calibrated photoelectric equipment, performing the following steps:
the main laser in the calibrating theodolite emits laser, and a visible or infrared laser wave band is selected according to the structure composition of an optical system of the calibrated photoelectric equipment and the type of a detector; the optical system in the calibrated photoelectric device receives the laser emitted by the main laser in the calibrating theodolite, and forms a punctiform facula in the optical system of the calibrated photoelectric device;
when the tested device is a calibrated non-optoelectronic device, the following steps are performed:
arranging a laser transmitter at the center of the calibrated non-photoelectric device, wherein the laser transmitter is vertically arranged with the working surface of the calibrated non-photoelectric device; the laser transmitter in the calibrated non-optoelectronic device emits laser; the optical system of the calibration theodolite receives laser emitted by the laser emitter of the calibration non-photoelectric equipment and forms a punctiform facula in the optical system of the calibration theodolite;
precisely adjusting and calibrating azimuth angle and pitching angle of the theodolite; simultaneously, the azimuth angle and the pitching angle of the measured equipment are finely adjusted;
step five, according to the type of the tested equipment judged in the step three, namely when the tested equipment is the calibrated photoelectric equipment, the following steps are carried out:
repeating the fourth step for iterative adjustment to enable the off-target quantity in the image processing system of the calibrated photoelectric equipment to be zero, and enabling the optical axis of the calibrating theodolite to coincide with the optical axis of the calibrated photoelectric equipment at the moment;
when the tested device is a calibrated non-optoelectronic device, the following steps are performed:
repeating the fourth step for iterative adjustment to enable the off-target quantity in the image processing system of the calibration theodolite to be zero, and enabling the optical axis of the calibration theodolite to coincide with the optical axis of the calibrated non-photoelectric equipment at the moment;
step six, performing data processing through a calibration theodolite computer connected with the calibration theodolite, recording the angle value of the calibration theodolite and the angle value of the tested equipment, and simultaneously solving the angle difference value between the calibration theodolite and the tested equipment;
and seventhly, taking the angle value of the calibration theodolite as a true value, and transmitting the angle correction value to a tested device computer through the calibration theodolite computer, wherein the angle difference value of the calibration theodolite and the tested device is the angle correction value required by the tested device, and carrying out angle correction on the tested device according to the angle correction value through the tested device computer.
Further, the rapid laser calibration method of the mobile platform optical system is realized by adopting the rapid laser calibration system of the mobile platform optical system, and comprises the following steps:
step S1: arranging a calibration theodolite at the first part of the mobile platform, and enabling the calibrated photoelectric equipment on the mobile platform to visually observe the calibration theodolite without physical shielding;
step S2: coarsely calibrating azimuth angle and pitching angle of the theodolite to enable the theodolite to be calibrated visually;
step S3: coarse adjustment of azimuth angle and pitching angle of the calibrated photoelectric equipment, so that the calibrated photoelectric equipment can visually calibrate the theodolite;
step S4: calibrating a main laser in the theodolite to emit laser, and selecting a visible or infrared laser band according to the structure composition of an optical system of the calibrated photoelectric equipment and the type of a detector;
step S5: the optical system in the calibrated photoelectric device receives the laser emitted by the main laser in the calibrating theodolite, and forms a punctiform facula in the optical system of the calibrated photoelectric device;
step S6: finely adjusting and calibrating azimuth angle and pitching angle of the theodolite;
step S7: finely adjusting the azimuth angle and the pitching angle of the calibrated photoelectric equipment;
step S8: repeating the steps S6 to S7 to carry out repeated iterative adjustment to enable the off-target quantity in the image processing system of the calibrated photoelectric equipment to be zero, and enabling the optical axis of the calibrating theodolite to coincide with the optical axis of the calibrated photoelectric equipment at the moment;
step S9: performing data processing through a calibration theodolite computer, and recording the angle value of the calibration theodolite and the angle value of the calibrated photoelectric equipment;
step S10: carrying out data processing through a calibration theodolite computer, and calculating an angle difference value between the calibration theodolite and calibrated photoelectric equipment;
step S11: taking the angle value of the calibration theodolite as a true value, and taking the angle difference value of the calibration theodolite and the calibrated photoelectric equipment as an angle correction value required by the calibrated photoelectric equipment;
step S12: transmitting the angle correction value to a calibrated photoelectric equipment computer through a calibrated theodolite computer;
step S13: performing angle correction on the calibrated photoelectric equipment according to the angle correction value through a calibrated photoelectric equipment computer;
step S14: and (5) finishing the calibrating process of the calibrated photoelectric equipment.
Further, the rapid laser calibration method of the mobile platform optical system is realized by adopting the rapid laser calibration system of the mobile platform optical system, and comprises the following steps:
step S1: arranging a calibration theodolite at the first part of the maneuvering platform, and enabling the calibrated non-photoelectric equipment to visually observe the calibration theodolite without physical shielding;
step S2: coarse-adjusting the azimuth angle and the pitching angle of the calibrating theodolite to enable the calibrating theodolite to be visually calibrated to non-photoelectric equipment;
step S3: coarse adjustment of azimuth angle and pitching angle of the calibrated non-photoelectric equipment, so that the theodolite is calibrated visually;
step S4: arranging a laser transmitter at the center of the calibrated non-photoelectric device, wherein the laser transmitter is vertically arranged with the working surface of the calibrated non-photoelectric device; the laser transmitter in the calibrated non-optoelectronic device emits laser;
step S5: the optical system of the calibration theodolite receives laser emitted by the laser emitter of the calibration non-photoelectric equipment and forms a punctiform facula in the optical system of the calibration theodolite;
step S6: finely adjusting and calibrating azimuth angle and pitching angle of the theodolite;
step S7: finely adjusting the azimuth angle and the pitching angle of the calibrated non-photoelectric equipment;
step S8: repeating the steps S6 to S7 to carry out repeated iterative adjustment so as to enable the off-target quantity in the image processing system of the calibration theodolite to be zero, and enabling the optical axis of the calibration theodolite to coincide with the optical axis of the calibrated non-photoelectric equipment at the moment;
step S9: performing data processing through a calibration theodolite computer, and recording the angle value of the calibration theodolite and the angle value of the calibrated non-photoelectric equipment;
step S10: carrying out data processing through a calibration theodolite computer, and calculating an angle difference value between the calibration theodolite and the calibrated non-photoelectric equipment;
step S11: taking the angle value of the calibration theodolite as a true value, and obtaining an angle difference value of the calibration theodolite and the calibrated non-photoelectric equipment as an angle correction value required by the calibrated non-photoelectric equipment;
step S12: transmitting the angle correction value to a calibrated non-photoelectric equipment computer through a calibrated theodolite computer;
step S13: performing angle correction on the calibrated non-photoelectric equipment according to the angle correction value through a calibrated non-photoelectric equipment computer;
step S14: and (5) finishing the calibrating process of the calibrated non-photoelectric equipment.
The beneficial effects of the invention are as follows:
the rapid laser calibration system and the rapid laser calibration method for the optical system of the mobile platform can realize rapid calibration of the artillery, the radar, the photoelectric and other devices in the mobile platform, and can eliminate the influence of system errors on the performance of the mobile platform system through rapid calibration, thereby ensuring the pointing consistency of the artillery, the radar, the photoelectric and other devices in the mobile platform and improving the calibration precision of the mobile platform system.
The rapid laser calibration system and the calibration method of the mobile platform optical system are free from being influenced by weather, free from mooring of the mobile platform, free from time limitation and manual intervention, reliable and practical, capable of realizing rapid and full-automatic calibration, high in calibration precision, wide in application range, low in dependence on environmental conditions, and simple in calibration operation, and can completely replace the traditional aiming star calibration method.
Drawings
FIG. 1 is a schematic diagram of a fast laser calibration system for a motorized stage optical system according to the present invention.
FIG. 2 is a schematic diagram of an optical system configuration for calibrating a theodolite.
In the figure, 1, a calibration theodolite, 1-1, an optical lens group, 1-2, a main laser static spectroscope, 1-3, a main system CCD,1-4, a main laser static reflector, 1-5, a main laser, 2, a calibration theodolite computer, 3, a calibrated photoelectric device, 4, a calibrated photoelectric device computer, 5, a calibrated non-photoelectric device, 6, a calibrated non-photoelectric device computer.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, a fast laser calibration system of an optical system of a motorized platform of the present invention mainly includes: the device comprises a calibration theodolite 1, a calibration theodolite computer 2, tested equipment and a tested equipment computer; the tested devices are mainly of two types, namely a calibrated photoelectric device 3 and a calibrated non-photoelectric device 5, and the corresponding tested device computers are a calibrated photoelectric device computer 4 and a calibrated non-photoelectric device computer 6.
The calibration theodolite 1 is arranged at the first part of the mobile platform, and meanwhile, the calibrated photoelectric equipment 3 and the calibrated non-photoelectric equipment 5 on the mobile platform can be ensured to be capable of visually calibrating the theodolite 1, and no physical shielding exists. Meanwhile, the calibrated theodolite computer 2, the device under test (the calibrated photoelectric device 3 and the calibrated non-photoelectric device 5) and the device under test (the calibrated photoelectric device computer 4 and the calibrated non-photoelectric device computer 6) are all installed on the mobile platform.
The calibrating theodolite 1 and the calibrating theodolite computer 2 are connected through a cable; the tested equipment and the tested equipment computer are connected through a cable, and specifically: the calibrated photoelectric device 3 and the calibrated photoelectric device computer 4 are connected through a cable; the calibrated non-photoelectric device 5 and the calibrated non-photoelectric device computer 6 are connected through a cable; the calibrating theodolite computer 2 is connected with the calibrated photoelectric equipment computer 4 through a cable; the calibrating theodolite computer 2 and the calibrated non-photoelectric equipment computer 6 are connected through a cable.
The main components in the calibration theodolite 1 include: an optical system, an image processing system, and an optoelectronic device. As shown in fig. 2, the optical system for calibrating the theodolite 1 mainly includes: the laser comprises an optical lens group 1-1, a main laser static spectroscope 1-2, a main system CCD1-3, a main laser static reflecting mirror 1-4 and a main laser 1-5. Inside the calibration theodolite 1, an optical lens group 1-1, a main laser static spectroscope 1-2 and a main system CDD1-3 are sequentially arranged from left to right in the main optical axis propagation direction of the optical lens group 1-1 and the main system CDD1-3. The optical lens group 1-1 is mechanically connected with photoelectric equipment in the calibration theodolite 1, and the optical lens group 1-1 is placed at an angle of 90 degrees with a main optical axis; the main laser static spectroscope 1-2 is mechanically connected with photoelectric equipment in the calibration theodolite 1, and the main laser static spectroscope 1-2 is placed at an angle of 45 degrees with a main optical axis; the host system CDD1-3 is mechanically connected to the electro-optical device in the calibration theodolite 1, and the host system CDD1-3 is placed at 0 degrees to the host optical axis.
Calibrating a main laser 1-5 in the theodolite 1 to emit laser, reflecting the laser to a main laser static spectroscope 1-2 through a main laser static reflector 1-4, reflecting the laser to an optical lens group 1-1 through the main laser static spectroscope 1-2, and emitting the laser through the optical lens group 1-1; and meanwhile, external light is incident to the optical lens group 1-1, sequentially passes through the optical lens group 1-1 and the main laser static spectroscope 1-2, and finally is received and imaged by the main system CDD1-3.
In the embodiment, the optical lens group 1-1 adopts an optical coating measure to carry out coating so as to have an anti-reflection effect, the main laser static spectroscope 1-2 adopts an optical coating measure to carry out coating so as to have a semi-reflection and semi-transmission effect, the main system CCD1-3 adopts a general CCD, the main laser static reflecting mirror 1-4 adopts an optical coating measure to carry out coating so as to have a reflection effect, and the main laser 1-5 adopts a general laser.
The invention relates to a rapid laser calibration system of an optical system of a maneuvering platform, which mainly adopts a calibration theodolite 1 as calibration truth-value equipment. The calibration theodolite 1 adopts a high-precision design, and the control and measurement precision of the calibration theodolite is higher than that of other tested equipment in a maneuvering platform system; meanwhile, the calibration theodolite 1 is designed with a laser emission light path, and the laser wave band of the laser emission light path can contain visible light and infrared light; the optics of the calibration theodolite 1 integrate the laser emission to a small divergence angle so that the laser can be considered infinity.
In the invention, the calibration theodolite computer 2 is a general-purpose computer; the calibrated photoelectric device 3 is a universal photoelectric device; the calibrated photoelectric equipment computer 4 is a general purpose computer; the marked non-photoelectric equipment 5 is other general equipment such as artillery, radar and the like; the calibrated non-optoelectronic device computer 6 is a general purpose computer.
The invention relates to a rapid laser calibration method of an optical system of a maneuvering platform, which mainly comprises the following steps:
firstly, arranging a calibration theodolite 1 at the first part of a maneuvering platform, and ensuring that tested equipment on the maneuvering platform can visually calibrate the theodolite 1 without physical shielding;
step two, roughly calibrating the azimuth angle and the pitching angle of the theodolite 1 to enable the theodolite 1 to be visually inspected; meanwhile, the azimuth angle and the pitching angle of the measured equipment are coarse-adjusted, so that the theodolite 1 is calibrated visually;
judging the type of the tested equipment, and when the tested equipment is the calibrated photoelectric equipment 3, performing the following steps:
the main lasers 1-5 in the theodolite 1 are calibrated to emit laser, and visible or infrared laser wave bands are selected according to the structure composition of an optical system of the calibrated photoelectric equipment 3 and the type of a detector; the optical system in the calibrated photoelectric device 3 receives the laser emitted by the main lasers 1-5 in the calibrated theodolite 1, and forms a punctiform facula in the optical system of the calibrated photoelectric device 3;
when the device under test is a calibrated non-optoelectronic device 5, the following steps are performed:
arranging a laser transmitter at the center of the calibrated non-photoelectric device 5, wherein the laser transmitter is vertically arranged with the working surface of the calibrated non-photoelectric device 5; the laser transmitter in the calibrated non-optoelectronic device 5 emits laser light; the optical system of the calibration theodolite 1 receives laser emitted by the laser emitter of the calibration non-photoelectric device 5, and forms a punctiform facula in the optical system of the calibration theodolite 1;
step four, finely adjusting and calibrating the azimuth angle and the pitching angle of the theodolite 1; simultaneously, the azimuth angle and the pitching angle of the measured equipment are finely adjusted;
step five, according to the type of the tested equipment judged in the step three, namely when the tested equipment is the calibrated photoelectric equipment 3, the following steps are carried out:
repeating the fourth step for iterative adjustment to make the off-target amount in the image processing system of the calibrated photoelectric device 3 zero, and at the moment, the optical axis of the calibrating theodolite 1 is coincident with the optical axis of the calibrated photoelectric device 3;
when the device under test is a calibrated non-optoelectronic device 5, the following steps are performed:
repeating the fourth step for iterative adjustment to make the off-target amount in the image processing system of the calibration theodolite 1 zero, and at the moment, the optical axis of the calibration theodolite 1 is coincident with the optical axis of the calibrated non-photoelectric device 5;
step six, performing data processing through a calibration theodolite computer 2 connected with the calibration theodolite 1, recording the angle value of the calibration theodolite 1 and the angle value of the tested equipment, and simultaneously solving the angle difference value between the calibration theodolite 1 and the tested equipment;
and step seven, taking the angle value of the calibration theodolite 1 as a true value, and then, the angle difference value of the calibration theodolite 1 and the tested equipment is the angle correction value required by the tested equipment, sending the angle correction value to a tested equipment computer through the calibration theodolite computer 2, and carrying out angle correction on the tested equipment according to the angle correction value through the tested equipment computer to complete the calibration process of the tested equipment.
Detailed description of the preferred embodiments
The invention relates to a rapid laser calibration method of an optical system of a maneuvering platform, wherein a calibrated photoelectric device 3 is a universal photoelectric device, and specific operation procedures of the method are as follows for the calibration of the calibrated photoelectric device 3:
step S1: the head of the maneuvering platform is provided with a calibration theodolite 1, and meanwhile, the calibrated photoelectric equipment 3 on the maneuvering platform needs to be ensured to be capable of visually calibrating the calibration theodolite 1, and no physical shielding exists;
step S2: coarsely calibrating azimuth angle and pitching angle of the theodolite 1 to enable the theodolite to be visually calibrated with the photoelectric equipment 3;
step S3: coarse adjustment of azimuth angle and pitching angle of the calibrated photoelectric equipment 3 enables the calibrated photoelectric equipment to visually calibrate the theodolite 1;
step S4: the main laser 1-5 in the calibrating theodolite 1 emits laser (specifically, the main laser 1-5 in the calibrating theodolite 1 emits laser, the laser is reflected to the main laser static spectroscope 1-2 through the main laser static reflecting mirror 1-4, then is reflected to the optical lens group 1-1 through the main laser static spectroscope 1-2 and is emitted by the optical lens group 1-1), and a visible or infrared laser wave band is selected according to the optical system structure composition of the calibrated photoelectric equipment 3 and the type of a detector;
step S5: the optical system in the calibrated photoelectric device 3 receives the laser emitted by the main lasers 1-5 in the calibrated theodolite 1, and forms a punctiform facula in the optical system of the calibrated photoelectric device 3;
step S6: finely adjusting and calibrating azimuth angle and pitching angle of the theodolite 1;
step S7: finely adjusting the azimuth angle and the pitching angle of the calibrated photoelectric device 3;
step S8: repeating the steps S6 to S7 to carry out repeated iterative adjustment so as to enable the off-target quantity in the image processing system of the calibrated photoelectric device 3 to be zero, and at the moment, the optical axis of the calibrated theodolite 1 is coincident with the optical axis of the calibrated photoelectric device 3;
step S9: the data processing is carried out through a calibration theodolite computer 2 connected with the calibration theodolite 1, and the angle value of the calibration theodolite 1 and the angle value of the calibrated photoelectric equipment 3 are recorded;
step S10: the data processing is carried out through a calibration theodolite computer 2 connected with the calibration theodolite 1, and the angle difference value between the calibration theodolite 1 and the calibrated photoelectric equipment 3 is calculated;
step S11: taking the angle value of the calibrated theodolite 1 as a true value, and obtaining an angle difference value between the calibrated theodolite 1 and the calibrated photoelectric equipment 3 as an angle correction value required by the calibrated photoelectric equipment 3;
step S12: the angle correction value is sent to a calibrated photoelectric equipment computer 4 through a calibration theodolite computer 2 connected with the calibration theodolite 1;
step S13: the calibrated photoelectric device 3 is subjected to angle correction according to the angle correction value by a calibrated photoelectric device computer 4 connected with the calibrated photoelectric device 3;
step S14: and (3) finishing the calibrating process of the calibrated photoelectric equipment 3.
Detailed description of the preferred embodiments
The invention relates to a rapid laser calibration method of an optical system of a maneuvering platform, wherein the calibrated non-photoelectric equipment 5 is other general equipment such as artillery, radar and the like, and the specific operation flow of the method is as follows for the calibration of the calibrated non-photoelectric equipment 5:
step S1: the head of the maneuvering platform is provided with a calibration theodolite 1, and meanwhile, the calibrated non-photoelectric equipment 5 on the maneuvering platform needs to be ensured to be capable of visually calibrating the calibration theodolite 1, and no physical shielding exists;
step S2: coarse-tuning the azimuth angle and the pitching angle of the calibrating theodolite 1 to enable the calibrating theodolite to be visually calibrated by the non-photoelectric equipment 5;
step S3: coarse adjustment of azimuth angle and pitching angle of the calibrated non-photoelectric equipment 5, so that the theodolite 1 is calibrated visually;
step S4: arranging a laser transmitter at the center of the calibrated non-photoelectric device 5, wherein the laser transmitter is vertically arranged with the working surface of the calibrated non-photoelectric device 5; the laser transmitter in the calibrated non-optoelectronic device 5 emits laser light;
step S5: the optical system of the calibration theodolite 1 receives the laser emitted by the laser emitter of the calibration non-photoelectric device 5, and forms an image into a punctiform facula in the optical system of the calibration theodolite 1 (specifically, the laser emitted by the laser emitter of the calibration non-photoelectric device 5 is incident to the optical lens group 1-1 of the calibration theodolite 1, then sequentially passes through the optical lens group 1-1 and the main laser static spectroscope 1-2 for transmission, and finally is received and formed into the punctiform facula by the main system CDD 1-3);
step S6: finely adjusting and calibrating azimuth angle and pitching angle of the theodolite 1;
step S7: finely adjusting the azimuth angle and the pitching angle of the calibrated non-photoelectric device 5;
step S8: repeating the steps S6 to S7 to carry out repeated iterative adjustment so as to enable the off-target quantity in the image processing system of the calibration theodolite 1 to be zero, and enabling the optical axis of the calibration theodolite 1 to coincide with the optical axis of the calibrated non-photoelectric device 5 at the moment;
step S9: the data processing is carried out through a calibration theodolite computer 2 connected with the calibration theodolite 1, and the angle value of the calibration theodolite 1 and the angle value of the calibrated non-photoelectric equipment 5 are recorded;
step S10: the data processing is carried out through a calibration theodolite computer 2 connected with the calibration theodolite 1, and the angle difference value between the calibration theodolite 1 and the calibrated non-photoelectric equipment 5 is calculated;
step S11: taking the angle value of the calibration theodolite 1 as a true value, and obtaining an angle difference value between the calibration theodolite 1 and the calibrated non-photoelectric equipment 5 as an angle correction value required by the calibrated non-photoelectric equipment 5;
step S12: the angle correction value is sent to a calibrated non-photoelectric equipment computer 6 through a calibration theodolite computer 2 connected with the calibration theodolite 1;
step S13: performing angle correction on the calibrated non-photoelectric device 5 according to the angle correction value through a calibrated non-photoelectric device computer 6 connected with the calibrated non-photoelectric device 5;
step S14: the calibration process of the calibrated non-photoelectric device 5 is completed.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (8)
1. A fast laser calibration system for an optical system of a motorized platform, comprising:
a calibration theodolite arranged at the head part of the maneuvering platform;
a calibration theodolite computer connected with the calibration theodolite;
the tested equipment comprises calibrated photoelectric equipment and calibrated non-photoelectric equipment, wherein the calibrated photoelectric equipment and the calibrated non-photoelectric equipment both visualize the calibrating theodolite;
the tested equipment computer comprises a calibrated photoelectric equipment computer and a calibrated non-photoelectric equipment computer, wherein the calibrated photoelectric equipment computer is connected with the calibrated photoelectric equipment, and the calibrated non-photoelectric equipment computer is connected with the calibrated non-photoelectric equipment; and the calibrated theodolite computer is respectively connected with the calibrated photoelectric equipment computer and the calibrated non-photoelectric equipment computer.
2. The rapid laser calibration system of claim 1, wherein the calibrated theodolite computer, calibrated optoelectronic device computer, calibrated non-optoelectronic device and calibrated non-optoelectronic device computer are all mounted on the motorized platform.
3. A fast laser calibration system for a motorized platform optical system according to claim 1, wherein the calibration theodolite comprises: an optical system, an image processing system, and an optoelectronic device; the optical system includes: the system comprises an optical lens group, a main laser static spectroscope, a main system CCD, a main laser static reflecting mirror and a main laser; the optical lens group, the main laser static spectroscope and the main system CDD are sequentially arranged along the propagation direction of the main optical axis of the optical system; the optical lens group is mechanically connected with the photoelectric equipment, and the included angle between the optical lens group and the main optical axis is 90 degrees; the main laser static spectroscope is mechanically connected with the photoelectric equipment, and the included angle between the main laser static spectroscope and the main optical axis is 45 degrees; the CDD of the main system is mechanically connected with the photoelectric equipment, and the included angle between the CDD of the main system and the main optical axis is 0 degree; the main laser emits laser, and the laser sequentially passes through the main laser static reflector and the main laser static spectroscope to be reflected to the optical lens group and is emitted by the optical lens group; external laser is incident to the optical lens group, sequentially passes through the optical lens group and the main laser static spectroscope, and is received and imaged by the CDD of the main system.
4. The rapid laser calibration system of a motorized platform optical system of claim 1, wherein the optical lens group is coated with an optical coating means to provide an anti-reflection effect; the main laser static spectroscope adopts an optical coating measure to carry out coating so as to have a semi-reflecting and semi-transmitting effect; the main system CCD adopts a general CCD; the main laser static reflector adopts an optical coating measure to carry out coating so as to have a reflecting effect; the main laser adopts a universal laser.
5. A fast laser calibration system for a motorized platform optical system according to claim 1, wherein the calibration theodolite computer is a general purpose computer; the calibrated photoelectric device is a universal photoelectric device; the calibrated photoelectric equipment computer is a general purpose computer; the marked non-photoelectric device is other general-purpose devices except the general-purpose photoelectric device; the calibrated non-photoelectric equipment computer is a general purpose computer.
6. A method for rapid laser calibration of a motorized platform optical system, characterized in that it is implemented by a rapid laser calibration system of a motorized platform optical system according to any one of claims 1-5, comprising the steps of:
firstly, arranging a calibration theodolite at the first part of a mobile platform, and enabling tested equipment on the mobile platform to visually observe the calibration theodolite without physical shielding;
step two, roughly calibrating azimuth angle and pitching angle of the theodolite to enable the theodolite to be visually inspected; meanwhile, the azimuth angle and the pitching angle of the measured equipment are coarse-adjusted, so that the theodolite is calibrated visually;
judging the type of the tested equipment, and when the tested equipment is calibrated photoelectric equipment, performing the following steps:
the main laser in the calibrating theodolite emits laser, and a visible or infrared laser wave band is selected according to the structure composition of an optical system of the calibrated photoelectric equipment and the type of a detector; the optical system in the calibrated photoelectric device receives the laser emitted by the main laser in the calibrating theodolite, and forms a punctiform facula in the optical system of the calibrated photoelectric device;
when the tested device is a calibrated non-optoelectronic device, the following steps are performed:
arranging a laser transmitter at the center of the calibrated non-photoelectric device, wherein the laser transmitter is vertically arranged with the working surface of the calibrated non-photoelectric device; the laser transmitter in the calibrated non-optoelectronic device emits laser; the optical system of the calibration theodolite receives laser emitted by the laser emitter of the calibration non-photoelectric equipment and forms a punctiform facula in the optical system of the calibration theodolite;
precisely adjusting and calibrating azimuth angle and pitching angle of the theodolite; simultaneously, the azimuth angle and the pitching angle of the measured equipment are finely adjusted;
step five, according to the type of the tested equipment judged in the step three, namely when the tested equipment is the calibrated photoelectric equipment, the following steps are carried out:
repeating the fourth step for iterative adjustment to enable the off-target quantity in the image processing system of the calibrated photoelectric equipment to be zero, and enabling the optical axis of the calibrating theodolite to coincide with the optical axis of the calibrated photoelectric equipment at the moment;
when the tested device is a calibrated non-optoelectronic device, the following steps are performed:
repeating the fourth step for iterative adjustment to enable the off-target quantity in the image processing system of the calibration theodolite to be zero, and enabling the optical axis of the calibration theodolite to coincide with the optical axis of the calibrated non-photoelectric equipment at the moment;
step six, performing data processing through a calibration theodolite computer connected with the calibration theodolite, recording the angle value of the calibration theodolite and the angle value of the tested equipment, and simultaneously solving the angle difference value between the calibration theodolite and the tested equipment;
and seventhly, taking the angle value of the calibration theodolite as a true value, and transmitting the angle correction value to a tested device computer through the calibration theodolite computer, wherein the angle difference value of the calibration theodolite and the tested device is the angle correction value required by the tested device, and carrying out angle correction on the tested device according to the angle correction value through the tested device computer.
7. A method for rapid laser calibration of a motorized platform optical system, characterized in that it is implemented by a rapid laser calibration system of a motorized platform optical system according to any one of claims 1-5, comprising the steps of:
step S1: arranging a calibration theodolite at the first part of the mobile platform, and enabling the calibrated photoelectric equipment on the mobile platform to visually observe the calibration theodolite without physical shielding;
step S2: coarsely calibrating azimuth angle and pitching angle of the theodolite to enable the theodolite to be calibrated visually;
step S3: coarse adjustment of azimuth angle and pitching angle of the calibrated photoelectric equipment, so that the calibrated photoelectric equipment can visually calibrate the theodolite;
step S4: calibrating a main laser in the theodolite to emit laser, and selecting a visible or infrared laser band according to the structure composition of an optical system of the calibrated photoelectric equipment and the type of a detector;
step S5: the optical system in the calibrated photoelectric device receives the laser emitted by the main laser in the calibrating theodolite, and forms a punctiform facula in the optical system of the calibrated photoelectric device;
step S6: finely adjusting and calibrating azimuth angle and pitching angle of the theodolite;
step S7: finely adjusting the azimuth angle and the pitching angle of the calibrated photoelectric equipment;
step S8: repeating the steps S6 to S7 to carry out repeated iterative adjustment to enable the off-target quantity in the image processing system of the calibrated photoelectric equipment to be zero, and enabling the optical axis of the calibrating theodolite to coincide with the optical axis of the calibrated photoelectric equipment at the moment;
step S9: performing data processing through a calibration theodolite computer, and recording the angle value of the calibration theodolite and the angle value of the calibrated photoelectric equipment;
step S10: carrying out data processing through a calibration theodolite computer, and calculating an angle difference value between the calibration theodolite and calibrated photoelectric equipment;
step S11: taking the angle value of the calibration theodolite as a true value, and taking the angle difference value of the calibration theodolite and the calibrated photoelectric equipment as an angle correction value required by the calibrated photoelectric equipment;
step S12: transmitting the angle correction value to a calibrated photoelectric equipment computer through a calibrated theodolite computer;
step S13: performing angle correction on the calibrated photoelectric equipment according to the angle correction value through a calibrated photoelectric equipment computer;
step S14: and (5) finishing the calibrating process of the calibrated photoelectric equipment.
8. A method for rapid laser calibration of a motorized platform optical system, characterized in that it is implemented by a rapid laser calibration system of a motorized platform optical system according to any one of claims 1-5, comprising the steps of:
step S1: arranging a calibration theodolite at the first part of the maneuvering platform, and enabling the calibrated non-photoelectric equipment to visually observe the calibration theodolite without physical shielding;
step S2: coarse-adjusting the azimuth angle and the pitching angle of the calibrating theodolite to enable the calibrating theodolite to be visually calibrated to non-photoelectric equipment;
step S3: coarse adjustment of azimuth angle and pitching angle of the calibrated non-photoelectric equipment, so that the theodolite is calibrated visually;
step S4: arranging a laser transmitter at the center of the calibrated non-photoelectric device, wherein the laser transmitter is vertically arranged with the working surface of the calibrated non-photoelectric device; the laser transmitter in the calibrated non-optoelectronic device emits laser;
step S5: the optical system of the calibration theodolite receives laser emitted by the laser emitter of the calibration non-photoelectric equipment and forms a punctiform facula in the optical system of the calibration theodolite;
step S6: finely adjusting and calibrating azimuth angle and pitching angle of the theodolite;
step S7: finely adjusting the azimuth angle and the pitching angle of the calibrated non-photoelectric equipment;
step S8: repeating the steps S6 to S7 to carry out repeated iterative adjustment so as to enable the off-target quantity in the image processing system of the calibration theodolite to be zero, and enabling the optical axis of the calibration theodolite to coincide with the optical axis of the calibrated non-photoelectric equipment at the moment;
step S9: performing data processing through a calibration theodolite computer, and recording the angle value of the calibration theodolite and the angle value of the calibrated non-photoelectric equipment;
step S10: carrying out data processing through a calibration theodolite computer, and calculating an angle difference value between the calibration theodolite and the calibrated non-photoelectric equipment;
step S11: taking the angle value of the calibration theodolite as a true value, and obtaining an angle difference value of the calibration theodolite and the calibrated non-photoelectric equipment as an angle correction value required by the calibrated non-photoelectric equipment;
step S12: transmitting the angle correction value to a calibrated non-photoelectric equipment computer through a calibrated theodolite computer;
step S13: performing angle correction on the calibrated non-photoelectric equipment according to the angle correction value through a calibrated non-photoelectric equipment computer;
step S14: and (5) finishing the calibrating process of the calibrated non-photoelectric equipment.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116840824A (en) * | 2023-09-01 | 2023-10-03 | 天府兴隆湖实验室 | Aircraft positioning method, device and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116840824A (en) * | 2023-09-01 | 2023-10-03 | 天府兴隆湖实验室 | Aircraft positioning method, device and system |
| CN116840824B (en) * | 2023-09-01 | 2023-11-07 | 天府兴隆湖实验室 | Aircraft positioning method, device and system |
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