CN117990127A - Aircraft target calibration method and device based on total station space point measurement - Google Patents
Aircraft target calibration method and device based on total station space point measurement Download PDFInfo
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- 238000005259 measurement Methods 0.000 title claims abstract description 22
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- 238000012360 testing method Methods 0.000 claims description 6
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- 239000012482 calibration solution Substances 0.000 claims description 3
- 238000000605 extraction Methods 0.000 description 4
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Abstract
The invention relates to an aircraft target correcting method and device based on total station space point measurement, wherein the aircraft target correcting method accurately measures and calculates the deviation of photoelectric and mechanical axes of an aircraft weapon system and other relevant airborne equipment relative to a reference axis; the aircraft target calibration method is used for calculating the deviation of the photoelectric and mechanical axes of an aircraft weapon system and other relevant airborne equipment relative to a reference axis based on the measurement of an aircraft target calibration device, and comprises the steps of acquiring the aircraft attitude, acquiring the mounting bracket attitude of the tested equipment and calibrating target calculation; in the aircraft target correcting device, the auxiliary measuring rod, the target rod and the tested equipment which are arranged around the aircraft are led out of the clamp by using the total station to be combined into an organic device proposal. According to the aircraft target correcting method, the aircraft is not required to be lifted in the target correcting process, the operation flow is simple, and the target correcting work can be completed by only 2 operators; the device adopts a general high-precision total station, and the equipment has strong expandability.
Description
Technical Field
The invention relates to the technical field of aircraft target calibration, in particular to an aircraft target calibration method and device based on total station space point measurement.
Background
In the prior art, the aircraft target correcting device is special equipment used for military aircraft target correcting operation, is used for calibrating photoelectric and mechanical axes of aircraft weapon systems and other relevant airborne equipment relative to a reference axis, and realizes the works of coordination relation detection, initial deviation measurement, auxiliary deviation correction and the like among the spatial axes.
Meanwhile, the aircraft target calibration work is an important work which is frequently and directly related to the aircraft inertial navigation accuracy and the task efficiency of the aircraft weapon system.
The target calibrating method is to use a vertical target calibrating mode, and the method of calibrating targets by using a plane and a vertical target drawing and aiming and measuring is needed. The operation process is complex, the target correcting time is long, the efficiency is low, and the requirement of modern war on accurate and rapid striking is difficult to meet.
Therefore, there is a need for a target calibration device that can quickly, conveniently and accurately measure and calculate the deviation of the photoelectric and mechanical axes of an aircraft weapon system and other related airborne equipment relative to a reference axis, so as to meet the requirement of modern military warfare on target calibration efficiency.
Disclosure of Invention
In order to solve the technical problems, the aircraft target correcting method based on total station space point measurement, which is disclosed by the invention, is used for calculating the deviation of the photoelectric and mechanical axes of an aircraft weapon system and other relevant airborne equipment relative to a reference axis based on the measurement of an aircraft target correcting device, and comprises the following steps of acquiring the aircraft attitude, acquiring the mounting bracket attitude of the tested equipment and correcting target calculation, wherein the aircraft attitude acquisition step comprises the following steps of:
step S1: the measuring rod (1) is sequentially placed below two aircraft longitudinal marking points, the rod body I (12) is kept in a vertical state with the ground through the adjusting platform (15), and the translation platform (16) is adjusted to enable the thimble (11) to prop against the marking points;
Step S2: aiming a measuring rod target (13) on a measuring rod (1) by using a total station to obtain two coordinate points (Nal 1, eal1, zal 1) and (Nal 2, eal2, zal 2) in the front and back longitudinal directions;
Step S3: the measuring rod (1) is vertically propped against the left and right transverse axis mark points of the airplane in turn, and the transverse axis gesture of the airplane is led out;
step S4: aiming a measuring rod target (13) on a measuring rod (1) by using a total station in sequence to obtain two coordinate points (Naw, eaw, zaw 1) and (Naw, eaw2, zaw 2) on the left and right directions;
Step S5: the attitude angle (alpha 1, beta 1, gamma 1) of the aircraft body in the total station coordinate system is obtained and is converted into a relation matrix T1, wherein:
α1＝arctg((Eal2-Eal1)/LA)
β1＝arctg((Zal2-Zal1)/LA)
γ1＝arcth((Zaw2-Zaw1)/WA)
Wherein: LA is the distance between two longitudinal marking points and is calculated by two coordinate points, WA is the distance between two transverse marking points and is calculated by two coordinate points;
the method comprises the following steps of:
Step S6: during target calibration, the tested equipment is detached from the airplane, the mounting posture leading-out clamp (3) of the tested equipment is mounted on the corresponding mounting bracket, the laser transmitter (31) on the mounting posture leading-out clamp (3) of the tested equipment is opened, and at the moment, the laser beams are respectively parallel to the longitudinal axis leading-out wire and the transverse axis leading-out wire of the inertial navigation bracket;
Step S7: when the target is calibrated, a target (21) on a target rod (2) is sequentially used for receiving laser beams at a position which is 15 meters away from a mounting gesture leading-out clamp (3) of the tested equipment, and then the connecting line of the central point of a laser emitting port of the laser and the central point of a laser spot on the target rod can represent a longitudinal axis leading-out wire and a transverse axis leading-out wire of an inertial navigation bracket;
step S8: aiming the fixture target (32) on the fixture (3) and the target mark (21) on the target rod (2) by using the total station in sequence to obtain two coordinate points (New 1, eel1, zel 1), (New 2, eel2, zel) of a longitudinal laser port and a longitudinal target plate, and two coordinate points (New 1, eew, zew 1), (New 2, eew2, zew 2) of a transverse laser port and a transverse target plate
Step S9: the attitude angle of the device under test in the total station coordinate system is (alpha 2, beta 2, gamma 2) and is converted into a relation matrix T2, wherein
α2＝arctg((Eel2-Eel1)/LE)
β1＝arctg((Zel2-Zel1)/LE)
γ1＝arcth((Zew2-Zew1)/WE)
Wherein: LE is the distance between two longitudinal marking points and is calculated by two coordinate points, WE is the distance between two transverse marking points and is calculated by two coordinate points;
The target calibration solution comprises the following steps:
Step S10: the attitude relationship of the device under test relative to the aircraft is calculated by:
T＝T2*T1'
and converting the relation matrix into Euler angle form (alpha, beta, gamma), namely the deviation angle of the tested equipment.
The invention also provides an aircraft target correcting device based on total station space point measurement, which combines the auxiliary measuring rod (1), the target rod (2) and the tested equipment installation posture leading-out clamp (3) which are arranged around an aircraft into an organic device scheme by using a total station, and comprises the total station, a tablet computer, the measuring rod (1), the target rod (2) and the tested equipment installation posture leading-out clamp (3), wherein the total station is a universal surveying instrument and is a target correcting origin in the aircraft target correcting device, and an operator receives total station space point measurement data by using the tablet computer through a cable and automatically calculates and displays a target correcting deviation angle.
In one embodiment of the invention, the measuring rod (1) comprises a thimble (11), a rod body I (12), a measuring rod target (13), a bubble (14), a leveling table (15), a translation table (16) and a tripod I (17), wherein the translation table (16), the leveling table (15), the bubble (14), the measuring rod target (13), the rod body I (12) and the thimble (11) are sequentially arranged on the assembly platform of the tripod I (17) in the vertical height direction, the translation table (16), the leveling table (15) and the bubble (14) form an adjusting module, and in addition, the thimble (11) is propped against a body measuring datum point of an airplane in the use process.
In one embodiment of the invention, the target rod (2) comprises a target (21), a receiving plate (22), a rod body II (23) and a tripod II (24), wherein the rod body II (23) is arranged on a tripod II (24) mounting platform, meanwhile, one end of the rod body II (23) is provided with the receiving plate (22), and the target (21) is arranged on the receiving plate (22).
In one embodiment of the invention, the tested equipment installation posture leading-out clamp (3) comprises a laser emitter (31), a clamp target (32), a support arm (33), a mounting seat (34) and a handle (35), wherein one end of the support arm (33) is arranged on the mounting seat (34), the handle (35) is also arranged on the mounting seat (34), and the clamp target (32) and the laser emitter (31) are arranged on a platform at the other end of the support arm (33).
Compared with the prior art, the technical scheme of the invention has the following advantages: according to the aircraft target correcting method, the aircraft is not required to be lifted in the target correcting process, the operation flow is simple, and the target correcting work can be completed by only 2 operators; the device adopts a general high-precision total station, and the equipment has strong expandability. The total station can measure various equipment of an aircraft and various equipment of various aircraft, and the target calibration work can be realized only by developing corresponding clamp-led-out mounting bracket posture information of tested equipment.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings.
FIG. 1 is a target calibration flow chart of the aircraft target calibration method based on total station spatial point measurement of the present invention;
FIG. 2 is a schematic view of the structure of the measuring rod in the aircraft targeting device of the present invention;
FIG. 3 is a schematic view of the structure of a target according to the present invention;
FIG. 4 is a schematic structural view of the mounting posture extraction fixture of the tested device;
FIG. 5 is a schematic drawing of an aircraft longitudinal axis marker point extraction according to the present invention;
FIG. 6 is a schematic drawing of an aircraft cross-axis marker point extraction according to the present invention;
Fig. 7 is a schematic drawing of the attitude extraction of the mounting bracket of the tested equipment according to the invention.
Detailed Description
Example 1
As shown in fig. 1, the present embodiment provides an aircraft target calibration method based on total station space point measurement, which calculates the deviation of the photoelectric and mechanical axes of an aircraft weapon system and other relevant airborne devices relative to a reference axis based on the measurement of an aircraft target calibration device, and includes the steps of acquiring the aircraft attitude, acquiring the mounting bracket attitude of the tested device, and calibrating the target, wherein the step of acquiring the aircraft attitude includes the following steps:
Step S1: the measuring rod 1 is sequentially placed below two aircraft longitudinal marking points, the rod body I12 is kept in a vertical state with the ground through the leveling platform 15, and the leveling platform 16 is adjusted to enable the thimble 11 to prop against the marking points, as shown in fig. 5;
step S2: aiming the measuring rod target 13 on the measuring rod 1 by using a total station to obtain two coordinate points (Nal 1, eal1, zal 1) and (Nal 2, eal2, zal 2) in the front and back longitudinal directions;
step S3: the measuring rod 1 is vertically propped against the left and right transverse axis mark points of the airplane in turn, and the transverse axis gesture of the airplane is led out (see figure 6);
Step S4: aiming the measuring rod target 13 on the measuring rod 1 by using a total station in sequence to obtain two coordinate points (Naw 1, eaw1, zaw 1) and (Naw 2, eaw2, zaw) on the left and right;
Step S5: the attitude angle (alpha 1, beta 1, gamma 1) of the aircraft body in the total station coordinate system is obtained and is converted into a relation matrix T1, wherein:
α1＝arctg((Eal2-Eal1)/LA)
β1＝arctg((Zal2-Zal1)/LA)
γ1＝arcth((Zaw2-Zaw1)/WA)
Wherein: LA is the distance between two longitudinal marking points and is calculated by two coordinate points, WA is the distance between two transverse marking points and is calculated by two coordinate points;
the method comprises the following steps of:
Step S6: during target calibration, the tested equipment is detached from the airplane, the tested equipment installation posture leading-out clamp 3 is installed on the corresponding installation bracket, the laser transmitter 31 on the tested equipment installation posture leading-out clamp 3 is opened, and at the moment, the laser beams are respectively parallel to the longitudinal axis leading-out wire and the transverse axis leading-out wire of the inertial navigation bracket, as shown in fig. 7;
Step S7: when the target is calibrated, the laser beam is sequentially received by the target 21 on the target rod 2 at the position which is 15 meters away from the installation posture leading-out clamp 3 of the tested equipment, and then the connecting line of the central point of the laser emitting port of the laser and the central point of the laser spot on the target rod can represent the longitudinal axis leading-out line and the transverse axis leading-out line of the inertial navigation bracket;
Step S8: aiming the fixture target 32 on the fixture 3 and the target 21 on the target rod 2 by using the total station in sequence to obtain two coordinate points (New 1, eel1, zel 1), (New 2, eel2, zel 2) of a longitudinal laser port and a longitudinal target plate, and two coordinate points (New 1, eew1, zew 1), (New 2, eew2, zew 2) of a transverse laser port and a transverse target plate
Step S9: the attitude angle of the device under test in the total station coordinate system is (alpha 2, beta 2, gamma 2) and is converted into a relation matrix T2, wherein
α2＝arctg((Eel2-Eel1)/LE)
β1＝arctg((Zel2-Zel1)/LE)
γ1＝arcth((Zew2-Zew1)/WE)
Wherein: LE is the distance between two longitudinal marking points and is calculated by two coordinate points, WE is the distance between two transverse marking points and is calculated by two coordinate points;
The target calibration solution comprises the following steps:
Step S10: the attitude relationship of the device under test relative to the aircraft is calculated by:
T＝T2*T1'
and converting the relation matrix into Euler angle form (alpha, beta, gamma), namely the deviation angle of the tested equipment.
According to the aircraft target calibration method, the installation posture of the tested equipment on the aircraft is led out through the clamp, and the mode of measuring the leading-out points by the total station is adopted, so that the main factors affecting the accuracy of the equipment are the accuracy of the target calibration clamp and the accuracy of the total station, the automation degree is high, manual reading is not needed, and the error is reduced; and the target calibrating efficiency is improved.
Example two
An aircraft target correcting device based on total station space point measurement is provided, wherein a total station is used for combining an auxiliary measuring rod 1, a target rod 2 and a tested device installation posture leading-out clamp 3 which are arranged around an aircraft into an organic device scheme, the device scheme comprises a total station, a tablet computer, the measuring rod 1, the target rod 2 and the tested device installation posture leading-out clamp 3, the total station is a universal mapping instrument and is a target correcting origin in the aircraft target correcting device, an operator receives total station space point measurement data through a cable by using the tablet computer, and a target correcting deviation angle is automatically calculated and displayed.
The space coordinate information of the measuring point obtained by the total station is transmitted into a tablet computer provided with gesture resolving software, and the required target correcting deviation angle can be automatically calculated and displayed.
The measuring rod 1 comprises a thimble 11, a rod body I12, a measuring rod target 13, a bubble 14, a leveling platform 15, a translation table 16 and a tripod I17, wherein the translation table 16, the leveling platform 15, the bubble 14, the measuring rod target 13, the rod body I12 and the thimble 11 are sequentially arranged on the assembly platform of the tripod I17 in the vertical height direction, the translation table 16, the leveling table 15 and the bubble 14 form an adjusting module, and in addition, the thimble 11 is propped against a fuselage measuring reference point of an airplane in the using process.
Specifically, the measuring rod 1 is mainly used for leading out a horizontal measuring datum point of a machine body, when in use, the rod body I12 is adjusted to be vertical to the ground through the adjusting platform 15, the thimble 11 is propped against the measuring datum point of the machine body, and the measuring rod target 13 is aimed by the total station for measurement, so that the leading-out work of the datum point of the machine body is completed.
The target rod 2 comprises a target 21, a receiving plate 22, a rod body II 23 and a tripod II 24, wherein the rod body II 23 is arranged on a tripod II 24 mounting platform, meanwhile, one end of the rod body II 23 is provided with the receiving plate 22, and the target 21 is arranged on the receiving plate 22.
Specifically, after the target in use receives the laser spot emitted by the mounting posture leading-out clamp 3 of the tested device, the target 21 is subjected to spot scanning measurement by using a total station.
The fixture 3 is drawn forth to the equipment installation gesture that is surveyed includes laser emitter 31, anchor clamps target 32, support arm 33, mount pad 34, handle 35, support arm 33 one end is established on mount pad 34, still is equipped with handle 35 on the mount pad 34 simultaneously, is equipped with anchor clamps target 32 and laser emitter 31 on the other end platform of support arm 33 simultaneously.
The mounting seat 34 is used for fixing the tested equipment mounting posture leading-out clamp 3 on the tested equipment bracket of the airplane, and the interface size of the mounting seat is designed according to the interface size of the tested equipment bracket. The support arm 33 is used for guiding the axis gesture of the mounting platform of the tested equipment bracket out of the aircraft skin, so that the laser beam is conveniently emitted, and the total station can sweep the clamp target 32 for point measurement. And after the tested equipment installation posture leading-out clamp 3 is installed on the mounting platform of the bracket of the tested equipment of the airplane, the axis line characteristic of the mounting platform of the bracket of the tested equipment of the airplane is represented by the laser beam optical axis line.
The target calibrating device of the embodiment can realize precision: azimuth accuracy 3', pitch accuracy 3', roll accuracy 3'.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
Claims (5)
1. The aircraft target calibration method based on total station space point measurement calculates the deviation of the photoelectric and mechanical axes of an aircraft weapon system and other relevant airborne equipment relative to a reference axis based on the measurement of an aircraft target calibration device, and is characterized by comprising the following steps of acquiring the aircraft attitude, acquiring the mounting bracket attitude of the tested equipment and calibrating target calculation, wherein the aircraft attitude acquisition step comprises the following steps of:
step S1: the measuring rod (1) is sequentially placed below two aircraft longitudinal marking points, the rod body I (12) is kept in a vertical state with the ground through the adjusting platform (15), and the translation platform (16) is adjusted to enable the thimble (11) to prop against the marking points;
Step S2: aiming a measuring rod target (13) on a measuring rod (1) by using a total station to obtain two coordinate points (Nal 1, eal1, zal 1) and (Nal 2, eal2, zal 2) in the front and back longitudinal directions;
Step S3: the measuring rod (1) is vertically propped against the left and right transverse axis mark points of the airplane in turn, and the transverse axis gesture of the airplane is led out;
step S4: aiming a measuring rod target (13) on a measuring rod (1) by using a total station in sequence to obtain two coordinate points (Naw, eaw, zaw 1) and (Naw, eaw2, zaw 2) on the left and right directions;
Step S5: the attitude angle (alpha 1, beta 1, gamma 1) of the aircraft body in the total station coordinate system is obtained and is converted into a relation matrix T1, wherein:
α1＝arctg((Eal2-Eal1)/LA)
β1＝arctg((Zal2-Zal1)/LA)
γ1＝arcth((Zaw2-Zaw1)/WA)
Wherein: LA is the distance between two longitudinal marking points and is calculated by two coordinate points, WA is the distance between two transverse marking points and is calculated by two coordinate points;
the method comprises the following steps of:
Step S6: during target calibration, the tested equipment is detached from the airplane, the mounting posture leading-out clamp (3) of the tested equipment is mounted on the corresponding mounting bracket, the laser transmitter (31) on the mounting posture leading-out clamp (3) of the tested equipment is opened, and at the moment, the laser beams are respectively parallel to the longitudinal axis leading-out wire and the transverse axis leading-out wire of the inertial navigation bracket;
Step S7: when the target is calibrated, a target (21) on a target rod (2) is sequentially used for receiving laser beams at a position which is 15 meters away from a mounting gesture leading-out clamp (3) of the tested equipment, and then the connecting line of the central point of a laser emitting port of the laser and the central point of a laser spot on the target rod can represent a longitudinal axis leading-out wire and a transverse axis leading-out wire of an inertial navigation bracket;
step S8: aiming the fixture target (32) on the fixture (3) and the target mark (21) on the target rod (2) by using the total station in sequence to obtain two coordinate points (New 1, eel1, zel 1), (New 2, eel2, zel) of a longitudinal laser port and a longitudinal target plate, and two coordinate points (New 1, eew, zew 1), (New 2, eew2, zew 2) of a transverse laser port and a transverse target plate
Step S9: the attitude angle of the device under test in the total station coordinate system is (α2, β2, γ2) converted into a relationship matrix T2, where α2=arctg ((Eel 2-Eel 1)/LE)
β1＝arctg((Zel2-Zel1)/LE)
γ1＝arcth((Zew2-Zew1)/WE)
Wherein: LE is the distance between two longitudinal marking points and is calculated by two coordinate points, WE is the distance between two transverse marking points and is calculated by two coordinate points;
The target calibration solution comprises the following steps:
Step S10: the attitude relationship of the device under test relative to the aircraft is calculated by:
T＝T2*T1'
and converting the relation matrix into Euler angle form (alpha, beta, gamma), namely the deviation angle of the tested equipment.
2. An aircraft target correcting device based on total powerstation space point measurement, utilize total powerstation to combine into organic device scheme with dress around the aircraft supplementary measuring stick (1), target pole (2), the equipment to be tested installation gesture draws forth anchor clamps (3), its characterized in that: the device comprises a total station, a tablet computer, a measuring rod (1), a target rod (2) and a clamp (3) led out by the installation posture of tested equipment, wherein the total station is a universal surveying instrument and is a target calibration origin in the target calibration device of the aircraft, and meanwhile, an operator receives measurement data of spatial points of the total station through a cable by using the tablet computer, and automatically calculates and displays a target calibration deviation angle.
3. An aircraft targeting device according to claim 2, wherein: the measuring rod (1) comprises a thimble (11), a rod body I (12), a measuring rod target (13), a bubble (14), a leveling table (15), a translation table (16) and a tripod I (17), wherein the translation table (16), the leveling table (15), the bubble (14), the measuring rod target (13), the rod body I (12) and the thimble (11) are sequentially arranged on the assembly platform of the tripod I (17) in the vertical height direction, the translation table (16), the leveling table (15) and the bubble (14) form an adjusting module, and in addition, the thimble (11) is propped against a body measuring datum point of an airplane in the using process.
4. An aircraft targeting device according to claim 2, wherein: the target rod (2) comprises a target (21), a receiving plate (22), a rod body II (23) and a tripod II (24), wherein the rod body II (23) is arranged on a tripod II (24) mounting platform, meanwhile, one end of the rod body II (23) is provided with the receiving plate (22), and the target (21) is arranged on the receiving plate (22).
5. An aircraft targeting device according to claim 2, wherein: the fixture (3) is drawn forth to tested equipment installation gesture includes laser emitter (31), anchor clamps target (32), support arm (33), mount pad (34), handle (35), support arm (33) one end is established on mount pad (34), still is equipped with handle (35) on mount pad (34) simultaneously, is equipped with anchor clamps target (32) and laser emitter (31) on support arm (33) other end platform simultaneously.
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| CN202410127049.7A CN117990127A (en) | 2024-01-30 | 2024-01-30 | Aircraft target calibration method and device based on total station space point measurement |
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| CN202410127049.7A CN117990127A (en) | 2024-01-30 | 2024-01-30 | Aircraft target calibration method and device based on total station space point measurement |
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