CN116817669A - Solution method for measuring spatial attitude of gun barrel - Google Patents
Solution method for measuring spatial attitude of gun barrel Download PDFInfo
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- CN116817669A CN116817669A CN202310700202.6A CN202310700202A CN116817669A CN 116817669 A CN116817669 A CN 116817669A CN 202310700202 A CN202310700202 A CN 202310700202A CN 116817669 A CN116817669 A CN 116817669A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A31/00—Testing arrangements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A31/00—Testing arrangements
- F41A31/02—Testing arrangements for checking gun barrels
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention discloses a resolving method for measuring the spatial attitude of a gun barrel, which comprises the steps of mounting and preparing a gun barrel spatial angle measuring device based on photoelectric tracking; according to the true north azimuth angle, the high-low angle and the distance calculation from the laser ranging module to the target plate, which are output by the dual-antenna Beidou directional receiver, the high-precision single-axis servo turntable is measured, so that the azimuth angle and the pitch angle of the cannon are obtained in a roughly horizontal state; and calculating the azimuth angle, the pitch angle and the transverse inclination angle of the gun trunnion of the gun in the high angle state of the gun. According to the invention, the azimuth angle and the pitch angle of the gun barrel under a geographic coordinate system can be rapidly obtained by using a gesture calculation algorithm. The operation is simple, the automation degree is high, and the manual operation error can be effectively avoided.
Description
Technical Field
The invention relates to the technical field of gun barrel space angle measurement, in particular to a resolving method for measuring gun barrel space attitude.
Background
The accurate measurement of the space angle of the gun barrel is a basis for ensuring the accurate installation and debugging of various components of the gun, and is also a necessary link for the inspection and the inspection of the gun. At present, the method is realized by mainly utilizing facility equipment such as known azimuth references, double-station theodolites and the like to carry out optical aiming measurement on the gun barrel. The measurement scheme relates to the steps of perforation and aiming measurement, labeling, calibrating parameters, observation and aiming measurement, calculation and the like, wherein the perforation and aiming measurement and calibrating parameters are complex and complicated in operation steps, deeper theoretical knowledge is involved, and the observation and aiming measurement has higher requirements on the proficiency of operation. Therefore, the measuring scheme has higher technical level requirements on operators, and meanwhile, measurement errors are easily introduced in the operation process, so that the degree of automation is lower, and the wide popularization and application are not facilitated.
Disclosure of Invention
The invention aims to provide a resolving method for measuring the spatial attitude of the gun barrel aiming at the problems in the prior art.
The above object of the present invention is achieved by the following technical means:
a resolving method for measuring the spatial attitude of a gun barrel comprises the following steps:
step 1, mounting preparation of an artillery barrel space angle measuring device based on photoelectric tracking;
step 2, calculating according to the true north azimuth angle, the high-low angle and the distance from the high-precision single-axis servo turntable to the target plate, which are output by the double-antenna Beidou directional receiver, by a laser ranging module, so as to obtain the azimuth angle and the pitch angle of the cannon in a roughly horizontal state;
and 3, calculating the azimuth angle, the pitch angle and the transverse inclination angle of the gun trunnion of the gun in the high-angle state of the gun.
Step 1 as described above comprises the steps of:
step 1.1, placing an artillery on a substantially horizontal field, and striking an artillery barrel to a substantially horizontal state;
step 1.2, installing a space angle measuring device in the gun barrel, observing the level bubble at the same time, rotating the whole space angle measuring device in the transverse rolling direction until the level bubble is centered, and rotating a screw rod to lock the space angle measuring device;
step 1.3, erecting a tripod right in front of the gun barrel, installing a cross target plate, enabling the surface of the cross target plate to face the gun barrel, adjusting the horizontal cross line of the cross target plate, enabling the vertical cross line to be vertical, and connecting and installing a second Beidou antenna;
step 1.4, connecting a computer and a power supply, and observing an image of the CCD camera on the computer;
and 1.5, adjusting the rotation angle of the rotating shaft to be zero, adjusting the gun height machine until the cross line of the cross target plate is seen to enter the field of view of the CCD camera, and then fine-adjusting the gun direction machine and the gun height machine simultaneously to enable the cross line of the cross target plate to be aligned with the cross line of the CCD camera.
The azimuth and pitch angles of the cannon in the substantially horizontal state of step 2 as described above are based on the following formulas:
α＝α′
wherein:
alpha is the azimuth angle of the barrel axis of the gun in a generally horizontal state;
beta is the pitch angle of the barrel axis of the gun in a generally horizontal state;
L 1 the distance from the center of the high-precision single-shaft servo turntable to the cross center of the target plate is set;
l 1 in the high-precision single-axis servo turntable for the electric phase center of the first Beidou antennaDistance of the heart;
l 2 the distance from the electric phase center of the second Beidou antenna to the center of a reticle of the reticle target plate;
alpha' is the true north azimuth angle output by the dual-antenna Beidou directional receiver;
and beta' is a pitch angle output by the double-antenna Beidou directional receiver.
Step 3 as described above comprises the steps of:
step 3.1, raising the gun barrel by a certain angle by utilizing a gun follow-up gun adjusting or a gun firing high-low machine, controlling the rotating shaft to rotate in the gun raising process at the moment, continuously lowering the head of the high-precision single-shaft servo turntable, measuring the distance between the center of the cross line of the cross target plate and the longitudinal line of the cross line of the CCD camera after stabilizing, reading the true north azimuth angle and the high-low angle output by the double-antenna Beidou directional receiver, measuring the distance from the high-precision single-shaft servo turntable to the cross target plate by utilizing a laser ranging module, and reading the angle value output by the rotating shaft;
step 3.2, calculating an azimuth angle and a pitch angle of the high-angle state of the gun and a transverse inclination angle of a gun trunnion according to the following formula;
wherein:
θ 1 the output of the shaft encoder is the shaft angle encoder of the high-precision single-shaft servo turntable;
L 2 the distance from the center of the high-precision single-shaft servo turntable to the cross center of the target plate is set;
x is the deviation distance from the longitudinal line of the cross line to the cross center of the cross target plate when the CCD camera is aimed after the gun is adjusted in place;
l is the distance from the center of the gun rotation to the center of the high-precision single-shaft servo turntable;
θ is the angle of the gun with the gun height adjusted;
gamma is the transverse inclination angle of the gun trunnion;
alpha is the azimuth angle of the barrel axis of the gun in a generally horizontal state;
beta is the pitch angle of the barrel axis of the gun in a generally horizontal state;
α t the azimuth angle of the barrel axis is the azimuth angle of the barrel axis in the high angle state of the gun;
β t is the pitch angle of the barrel axis under the high angle state of the gun.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the azimuth angle and the pitch angle of the gun barrel under a geographic coordinate system can be rapidly obtained by using a gesture calculation algorithm. The operation is simple, the automation degree is high, and the manual operation error can be effectively avoided.
Drawings
FIG. 1 is a schematic diagram of a device for measuring the spatial angle of a gun barrel based on photoelectric tracking;
in the figure, 1-gun barrel (muzzle end); 2-a top block; 3-wedge blocks; 4-a screw rod; 5-a reference end face; 6-a first Beidou antenna; 7-a torque motor; 8-a laser ranging module; 9-cross target plate; 10-a second Beidou antenna; 11-protrusions; 12-a computer; 13-a support cylinder; 14-shaft encoder; 15-a frame; 16-leveling the bubbles; 17-CCD camera; 18-rotating shaft; and 19 tripod.
Detailed Description
The present invention will be further described in detail below in conjunction with the following examples, for the purpose of facilitating understanding and practicing the present invention by those of ordinary skill in the art, it being understood that the examples described herein are for the purpose of illustration and explanation only and are not intended to limit the invention.
Structural composition and connection relationship
An artillery barrel space angle measuring device (hereinafter referred to as space angle measuring device) based on photoelectric tracking. The device mainly comprises a barrel axis leading-out mechanism, a high-precision single-shaft servo turntable, a double-antenna Beidou directional receiver, a CCD camera, a laser ranging module, level bubbles, a target plate and a computer.
The barrel axis leading-out mechanism is inserted into the gun barrel by the muzzle end of the gun barrel 1, tightly matched with the inner wall of the gun barrel and fixedly connected with the gun barrel. The high-precision single-shaft servo turntable is fixedly connected with the barrel axis drawing mechanism. The laser ranging module, the CCD camera and the level bubble are arranged on the high-precision single-shaft servo turntable. The target plate frame is arranged at the position of 50 meters right in front of the gun barrel. Two big dipper antennas of the big dipper directional receiver of dual antenna are installed respectively in the top of high accuracy unipolar servo revolving stage and target plate. The computer is connected with the high-precision single-shaft servo turntable through a cable.
The structure and function of each component will be described below
1. Barrel axis extraction mechanism
The barrel axis extraction mechanism comprises a supporting cylinder 13, a bulge 11, a jacking block 2, a wedge block 3, a reference end face 5 and a screw rod 4. In this embodiment, there are 4 protrusions 11, and 2 protrusions 11 are a pair of protrusions distributed on two sides of the supporting cylinder 13, and closely attached to the inner wall of the gun barrel 1, so as to play a supporting role, and meanwhile, the protrusions are also axis references. The lead screw 4 is installed inside the support cylinder 13 and is connected with the support cylinder 13 through threads, the wedge block 3 is movably sleeved on the lead screw 4, the lead screw 4 can rotate relative to the wedge block 3, the position of the wedge block 3 relative to the lead screw 4 in the axial direction of the lead screw 4 is unchanged, and the jacking block 2 is installed in a hole groove of the support cylinder 13 and is attached to an inclined plane of the wedge block. When the screw rod is rotated, the screw rod axially moves in the supporting cylinder, the screw rod drives the wedge block 3 to move, and the wedge block 3 jacks the jacking block 2 by utilizing the inclined plane, so that the jacking block 2 is tightly attached to the inner wall of the gun barrel 1. Thus, the barrel axis extraction mechanism can be fixed in the barrel by the four projections 11 below the support barrel 13 and the top block 2 above. When the barrel axis extraction mechanism needs to be detached, the screw rod 4 can be rotated backwards, the top block 2 is retracted into the supporting cylinder 13 under the action of gravity, and the whole barrel axis extraction mechanism can be extracted. The reference end face 5 is fixed at the outer end of the supporting cylinder 13, and the axial connecting line of the two bulges 11 positioned on the same side of the supporting cylinder 13 is strictly perpendicular to the reference end face 5.
2. High-precision single-shaft servo turntable
The high-precision single-shaft servo turntable comprises a frame 15, a torque motor 7, a shaft angle encoder 14 and a rotating shaft 18. The rotating shaft 18 is arranged on the frame 15 through a bearing, so that the rotating shaft 18 can freely rotate. A torque motor 7 is fixed on one side of the frame 15, and the torque motor 7 is connected with a rotating shaft 18 for driving the rotating shaft to rotate. The other side of the frame 15 is fixed with an axial angle encoder 14 for measuring the rotation angle of the rotation shaft 18. The first big dipper antenna 6 is installed to frame 15 top, and the perpendicular bisector of first big dipper antenna 6 passes through high accuracy unipolar servo revolving stage center (i.e. pivot 18 center). The frame 15 is connected with the reference end face 5, and the high-precision single-shaft servo turntable is arranged on the reference end face 5 of the barrel axis extraction mechanism, so that the rotating shaft 18 is ensured to be parallel to the reference end face 5.
CCD camera
The CCD camera 17 is arranged on a rotating shaft 18 of the high-precision single-shaft servo turntable, the optical axis of the CCD camera 17 is ensured to be vertical to the rotating shaft 18 during installation, and meanwhile, the central axis of the gun barrel 1 passes through the center of the CCD camera 17. The CCD camera 17 mainly serves to acquire the target plate image and track the cross target plate 9 in real time.
4. Laser ranging module
The laser ranging module 8 is installed on the rotating shaft 18 of the high-precision single-shaft servo turntable, and the optical axis of the laser ranging module 8 is ensured to be perpendicular to the rotating shaft 18 during installation. The laser ranging module 18 is used for measuring the distance from the center of the high-precision single-axis servo turntable to the cross target plate 9.
5. Level bubble
The leveling bubble 16 is installed on a rotating shaft 18 of the high-precision single-shaft servo turntable, and the sensitive shaft of the leveling bubble 16 is ensured to be parallel to the rotating shaft 18 during installation. The leveling bubble 16 is used to measure whether the spindle 18 is level.
6. Target board
The target plate comprises a cross target plate 9 and a tripod 19, wherein the cross target plate 9 is arranged on the tripod 19. The target plate frame is arranged at a position which is about 50 meters in front of the gun barrel 1, and the cross transversal line of the cross target plate 9 is ensured to be horizontal and the cross longitudinal line is ensured to be vertical during erection. The second Beidou antenna 2 is arranged right above the cross target plate 9, and the perpendicular bisector of the second Beidou antenna 2 passes through the center of a cross line of the cross target plate 9.
7. Computer with a memory for storing data
The computer 12 is used for acquiring and displaying images of the CCD camera 17, reading information of the first Beidou antenna 6, the second Beidou antenna 10, the laser ranging module 8 and the shaft angle encoder 14, resolving an attitude angle, controlling the torque motor 7 to track images, inputting and outputting data information and the like. The computer 12 is connected with the torque motor 7 and the shaft angle encoder 14 of the high-precision single-shaft servo turntable through cables, supplies power to the high-precision single-shaft servo turntable and communicates with the high-precision single-shaft servo turntable.
8. Double-antenna Beidou directional receiver
The dual-antenna Beidou directional receiver comprises a first Beidou antenna 6 and a second Beidou antenna 10, wherein the first Beidou antenna 6 and the second Beidou antenna 10 are connected with a computer 12 through cables. The method is mainly used for measuring the true north azimuth angle and pitch angle from the high-precision single-axis servo turntable to the target plate.
(II) working procedure and principle
The working process of the space angle measuring device is divided into three stages, wherein the first stage is an installation preparation stage, mainly the space angle measuring device is installed at the gun port, a target plate is erected, and the whole device is powered on to be in a standby state; the second stage is a horizontal measurement stage, mainly measuring azimuth angle and pitch angle of the gun barrel in a substantially horizontal state; the third stage is a high angle measuring stage, mainly measuring azimuth angle and pitch angle of the gun barrel in a high angle state and transverse inclination angle of the gun trunnion.
A resolving method for measuring the spatial attitude of a gun barrel, which utilizes the device for measuring the spatial angle of the gun barrel based on photoelectric tracking, comprises the following steps:
step 1, mounting preparation of an artillery barrel space angle measuring device based on photoelectric tracking, which specifically comprises the following steps:
step 1.1, placing the artillery on a substantially horizontal field, and striking the artillery barrel 1 to a substantially horizontal state, wherein the axis of the artillery barrel 1 is inconsistent with the longitudinal line of the chassis of the artillery.
And 1.2, installing a space angle measuring device in the gun barrel 1, simultaneously observing the level bubble 16 on the high-precision single-shaft servo turntable, rotating the whole space angle measuring device in the transverse rolling direction until the level bubble 16 is centered, representing the rotation shaft 18 of the high-precision single-shaft servo turntable to be horizontal, and rotating the screw rod 4 to lock the space angle measuring device.
Step 1.3, erecting a tripod at a position which is about 50 meters away from the right front of the gun barrel, installing a cross target plate 9, enabling the cross target plate 9 to face the gun barrel 1, adjusting the cross transversal line of the cross target plate 9 to be horizontal, enabling the cross longitudinal line to be vertical, and connecting and installing a second Beidou antenna 10.
Step 1.4, connecting the computer 12 and a power supply, starting up, and observing the image of the CCD camera 17 on the computer 12.
And 1.5, adjusting the rotation angle of the rotating shaft 18 to be zero, adjusting the gun height machine until the cross line of the cross target plate 9 is seen to enter the field of view of the CCD camera 17, and then fine-adjusting the gun direction machine and the gun height machine simultaneously so as to align the cross line of the cross target plate 9 with the cross line of the CCD camera 17.
Step 2, calculating according to the true north azimuth angle, the high-low angle and the distance from the high-precision single-axis servo turntable to the target plate, which are output by the double-antenna Beidou directional receiver, by a laser ranging module, so as to obtain the azimuth angle and the pitch angle of the cannon in a roughly horizontal state:
and 2.1, operating a computer interface, starting horizontal measurement, reading the true north azimuth angle and the high and low angle output by the double-antenna Beidou directional receiver, and automatically recording by a computer.
And 2.2, automatically controlling a laser ranging module by a computer 12 to measure the distance from the high-precision single-axis servo turntable to the target plate, and automatically recording.
And 2.3, calculating the azimuth angle and the pitch angle of the barrel axis of the gun in a roughly horizontal state by a computer according to the following formula.
α＝α ′
In the middle of
Alpha is the azimuth angle of the barrel axis of the gun in a generally horizontal state;
beta is the pitch angle of the barrel axis of the gun in a generally horizontal state;
L 1 the distance from the center of the high-precision single-axis servo turntable to the cross center of the target plate (which can be measured by a laser ranging module);
l 1 the distance from the electric phase center of the first Beidou antenna to the center of the high-precision single-axis servo turntable;
l 2 is the distance from the electrical phase center of the second Beidou antenna to the reticle center of the reticle target plate 9;
α ′ the true north azimuth angle is output by the dual-antenna Beidou directional receiver;
beta' is the pitch angle output by the double-antenna Beidou directional receiver;
step 3, high angle measurement stage
Step 3.1, raising the gun barrel 1 by a certain angle by utilizing a gun follow-up gun adjusting or gun firing height machine, at this moment, in the gun raising process, starting an image tracking function by the computer 12, controlling the rotation of the rotating shaft 18, so that the high-precision single-shaft servo turntable continuously lowers the head, enabling the CCD camera 17 to track the cross line of the cross target plate 9, and in the CCD camera 17 tracking process, the center of the cross line of the cross target plate 9 and the longitudinal line of the cross line of the CCD camera 17 gradually leave a certain distance due to the transverse inclination angle of the gun trunnion. When the gun is adjusted in place, the distance can be measured by using an image processing method, meanwhile, the true north azimuth and the high-low angle output by the double-antenna Beidou directional receiver are read, the distance from the high-precision single-axis servo turntable to the cross target plate 9 is measured by using a laser ranging module, and the angle value output by the rotating shaft 18 is read and recorded automatically.
And 3.2, calculating the azimuth angle and the pitch angle of the gun high angle state and the transverse inclination angle of the gun trunnion by the computer 12 according to the following formulas, and completing the space angle measurement of any gun adjusting position of the gun barrel.
Wherein:
θ 1 the output of the shaft encoder is the shaft angle encoder of the high-precision single-shaft servo turntable;
L 2 the distance from the center of the high-precision single-axis servo turntable to the cross center of the target plate (which can be measured by a laser ranging module);
x is the deviation distance from the longitudinal line of the cross line of the CCD camera aiming at the center of the cross line of the cross target plate after the gun is adjusted in place;
l is the distance from the center of the gun rotation to the center of the high-precision single-shaft servo turntable;
θ is the angle of the gun with the gun height adjusted;
gamma is the transverse inclination angle of the gun trunnion;
alpha is the azimuth angle of the barrel axis of the gun in a generally horizontal state;
beta is the pitch angle of the barrel axis of the gun in a generally horizontal state;
α t the azimuth angle of the barrel axis is the azimuth angle of the barrel axis in the high angle state of the gun;
β t is the pitch angle of the barrel axis under the high angle state of the gun.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (1)
1. The resolving method for measuring the spatial attitude of the gun barrel is characterized by comprising the following steps of:
step 1, mounting preparation of an artillery barrel space angle measuring device based on photoelectric tracking, wherein the artillery barrel space angle measuring device comprises a barrel axis leading-out mechanism and a single-shaft servo turntable, the barrel axis leading-out mechanism is fixed in a barrel, the single-shaft servo turntable is fixedly connected with the barrel axis leading-out mechanism, and the single-shaft servo turntable is provided with level bubbles, a CCD camera and a laser ranging module;
step 2, calculating according to the true north azimuth angle, the high-low angle and the distance from the single-axis servo turntable to the target plate, which are output by the double-antenna Beidou directional receiver, by the laser ranging module, so as to obtain the azimuth angle and the pitch angle of the cannon in a roughly horizontal state; the double antennas comprise a first Beidou antenna and a second Beidou antenna, and are respectively arranged above the single-shaft servo turntable and above the cross target plate;
step 3, calculating azimuth angles, pitch angles and transverse inclination angles of gun trunnions of the gun;
the step 1 comprises the following steps:
step 1.1, placing an artillery on a substantially horizontal field, and striking an artillery barrel to a substantially horizontal state;
step 1.2, installing a space angle measuring device in the gun barrel, observing the level bubble at the same time, rotating the whole space angle measuring device in the transverse rolling direction until the level bubble is centered, and rotating a screw rod to lock the space angle measuring device;
step 1.3, erecting a tripod right in front of the gun barrel, installing a cross target plate, enabling the surface of the cross target plate to face the gun barrel, adjusting the horizontal cross line of the cross target plate, enabling the vertical cross line to be vertical, and connecting and installing a second Beidou antenna;
step 1.4, connecting a computer and a power supply, and observing an image of the CCD camera on the computer;
step 1.5, adjusting the rotation angle of a rotating shaft of the single-shaft servo turntable to be zero, and adjusting a gun height machine until a cross line of a cross target plate is seen to enter a field of view of a CCD camera, and then fine-adjusting a gun direction machine and the gun height machine simultaneously to enable the cross line of the cross target plate to be aligned with the cross line of the CCD camera;
the azimuth angle and the pitch angle of the cannon in the step 2 in the approximately horizontal state are based on the following formula:
α＝α′
wherein:
alpha is the azimuth angle of the barrel axis of the gun in a generally horizontal state;
beta is the pitch angle of the barrel axis of the gun in a generally horizontal state;
L 1 the distance from the center of the high-precision single-shaft servo turntable to the cross center of the target plate is set;
l 1 the distance from the electric phase center of the first Beidou antenna to the center of the high-precision single-axis servo turntable;
l 2 the distance from the electric phase center of the second Beidou antenna to the center of a reticle of the reticle target plate;
alpha' is the true north azimuth angle output by the dual-antenna Beidou directional receiver;
beta' is the pitch angle output by the double-antenna Beidou directional receiver;
the step 3 comprises the following steps:
step 3.1, raising the gun barrel (1) by a certain angle by utilizing a gun follow-up gun adjusting or a gun firing height machine, controlling a rotating shaft (18) of a single-shaft servo rotating table to rotate in the gun raising process at the moment so as to enable the high-precision single-shaft servo rotating table to continuously lower the head, measuring the distance between the center of a cross line of a cross target plate (9) and a longitudinal line of a cross line of a CCD camera (17) after stabilizing, reading the true north azimuth angle and the height angle output by a double-antenna Beidou directional receiver, measuring the distance from the high-precision single-shaft servo rotating table to the cross target plate (9) by utilizing a laser ranging module, and reading the angle value output by the rotating shaft (18);
step 3.2, calculating an azimuth angle and a pitch angle of the high-angle state of the gun and a transverse inclination angle of a gun trunnion according to the following formula;
wherein:
θ 1 the output of the shaft encoder is the shaft angle encoder of the high-precision single-shaft servo turntable;
L 2 the distance from the center of the high-precision single-shaft servo turntable to the cross center of the target plate is set;
x is the deviation distance from the longitudinal line of the cross line to the cross center of the cross target plate when the CCD camera is aimed after the gun is adjusted in place;
l is the distance from the center of the gun rotation to the center of the high-precision single-shaft servo turntable;
θ is the angle of the gun with the gun height adjusted;
gamma is the transverse inclination angle of the gun trunnion;
alpha is the azimuth angle of the barrel axis of the gun in a generally horizontal state;
beta is the pitch angle of the barrel axis of the gun in a generally horizontal state; alpha t The azimuth angle of the barrel axis is the azimuth angle of the barrel axis in the high angle state of the gun; beta t Is the pitch angle of the barrel axis under the high angle state of the gun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310700202.6A CN116817669A (en) | 2021-12-24 | 2021-12-24 | Solution method for measuring spatial attitude of gun barrel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310700202.6A CN116817669A (en) | 2021-12-24 | 2021-12-24 | Solution method for measuring spatial attitude of gun barrel |
| CN202111598041.1A CN114281112B (en) | 2021-12-24 | 2021-12-24 | Device and method for measuring space angle of gun barrel based on photoelectric tracking |
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| CN202111598041.1A Division CN114281112B (en) | 2021-12-24 | 2021-12-24 | Device and method for measuring space angle of gun barrel based on photoelectric tracking |
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| CN116817669A true CN116817669A (en) | 2023-09-29 |
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| CN202310700202.6A Pending CN116817669A (en) | 2021-12-24 | 2021-12-24 | Solution method for measuring spatial attitude of gun barrel |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE613618C (en) * | 1926-10-26 | 1935-05-25 | Zeiss Carl Fa | Control system for drive motors, especially for aiming guns |
| DE2837995C2 (en) * | 1978-08-31 | 1984-12-20 | Rheinmetall GmbH, 4000 Düsseldorf | Steep barrel weapon |
| US4727790A (en) * | 1985-05-03 | 1988-03-01 | Ares, Inc. | Automated shell loading apparatus for externally mounted tank cannon |
| DE3827764A1 (en) * | 1988-08-16 | 1990-02-22 | Rheinmetall Gmbh | METHOD FOR DETERMINING GUIDANCE CORRECTION VALUES |
| JP3895021B2 (en) * | 1997-10-30 | 2007-03-22 | 株式会社日本製鋼所 | Artillery with a cannon height device |
| CN102230801B (en) * | 2011-03-30 | 2014-02-26 | 北京航空航天大学 | Light-type triaxial ISP (inertially stabilized platform) system using aerial remote sensing technology |
| CN104457428B (en) * | 2013-09-25 | 2016-09-21 | 中国兵器工业第二0二研究所 | Tank gun steering wheel and gun muzzle angle of displacement test bias device |
| RU169585U1 (en) * | 2016-03-09 | 2017-03-23 | федеральное государственное автономное образовательное учреждение высшего образования "Южно-Уральский государственный университет (национальный исследовательский университет)" (ФГБОУ ВО "ЮУрГУ (НИУ)") | Triaxial swivel dynamic stand |
| CN109282812B (en) * | 2018-11-01 | 2021-02-02 | 东南大学 | Positioning and orienting device of MIMU/rotary Beidou short-baseline double antennas |
| CN110285708B (en) * | 2019-05-28 | 2021-07-27 | 中国人民解放军陆军工程大学 | Rapid detection method for north-seeking precision of self-propelled gun positioning and orienting system |
| CN111551072B (en) * | 2020-04-30 | 2022-04-12 | 中国船舶重工集团公司第七0七研究所 | Method for leading out axis of gun barrel |
| CN212794671U (en) * | 2020-07-20 | 2021-03-26 | 新乡北方车辆仪表有限公司 | Universal clamp for track test sensor of multi-caliber gun and gun body tube |
| CN113701562B (en) * | 2021-08-27 | 2023-04-07 | 中国人民解放军32181部队 | Gun adjustment precision detection system and detection method thereof |
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2021
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