CN211291370U

CN211291370U - Target correcting instrument with self-calibration function for armed aircraft axis

Info

Publication number: CN211291370U
Application number: CN202020206272.8U
Authority: CN
Inventors: 周士国; 冯建新; 卿宇
Original assignee: Aerospace Jinpeng Technology Equipment Beijing Co ltd
Current assignee: Aerospace Jinpeng Technology Equipment Beijing Co ltd
Priority date: 2020-02-25
Filing date: 2020-02-25
Publication date: 2020-08-18
Anticipated expiration: 2030-02-25

Abstract

The utility model provides a target calibration instrument with self-calibration function for armed aircraft axis, which comprises a self-calibration plane mirror, an optical system arranged in a casing, an image processing unit and an inertia measuring instrument; the direction of the navigation axis of the inertial measurement instrument is consistent with the direction of the optical axis of the optical system; the optical system comprises a light source, a focusing lens group and an image sensor arranged at the focus of the focusing lens group, and the self-calibration plane mirror is movably arranged on a lens barrel of the optical system. The utility model discloses an optical system has realized the calibration of weapon equipment multiaxial parallelism with inertial measurement appearance phase combination, because school target appearance self has the self calibration function, relies on the cooperation relation between external self calibration level crossing and the lens cone, has ensured the optical accuracy of school target appearance self, and it is high to have the accuracy of calibration of marking, characteristics such as convenient to use is swift.

Description

Target correcting instrument with self-calibration function for armed aircraft axis

Technical Field

The utility model belongs to the technical field of the weaponry, a boresight appearance of armed aircraft axis with self calibration function is related to.

Background

Armed aircraft (helicopters) can carry various weapons such as missiles, rockets, aeroguns, bombs and the like, and carry out aerial striking on enemy targets, and the striking effect depends on the precision of a weapon system. However, in practical use, due to the influence of factors such as temperature, impact, vibration and fatigue deformation, the aiming accuracy of the weapon system changes, so that the boresight instrument needs to be adopted to calibrate the axial direction of the weapon system of the airplane (helicopter), which is called boresight for short.

The boresight is a general term for all calibration and adjustment operations for coordinating and conforming optical, electrical and mechanical axes of each device of the weapon system with a reference coordinate axis or maintaining a certain spatial position relationship, and is an important work frequently and directly related to the hit rate of airborne weapons and the task efficiency of the whole weapon system. The existing target calibration method is to adopt the original methods of jacking an airplane, aligning, erecting a target or drawing a target picture and readjusting to calibrate the weapon system, and the target calibration method is time-consuming and labor-consuming, low in efficiency and precision, and the structure of target calibration equipment is complex, so that the target calibration work efficiency, the weapon hit rate and the movement speed of a large machine group are severely limited.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a boresight appearance of armed aircraft axis with self calibration function has the self calibration function, can be fast, accurate, the axial deviation of weapon system is proofreaded out in the mark of high automation, and realize the axial calibration of weapon system transmission shaft, laser outgoing axle, infrared camera and visible light camera system and other relevant axles, it not only is applicable to the boresight of aircraft (helicopter) under land parking, be applicable to the little space developments boresight under the carrier-borne condition more, have the commonality strong, intelligent degree is high, the characteristics that efficiency is showing.

The technical scheme of the utility model as follows:

a target calibration instrument with a self-calibration function for the axis of an armed aircraft comprises a self-calibration plane mirror, an optical system, an image processing unit and an inertia measuring instrument, wherein the optical system, the image processing unit and the inertia measuring instrument are arranged in a shell; the direction of the navigation axis of the inertial measurement instrument is consistent with the direction of the optical axis of the optical system; the optical system comprises a light source, a focusing lens group and an image sensor arranged at the focus of the focusing lens group, the image sensor is arranged at the focus position of the focusing lens group, and the image processing unit is used for processing data of an image of the image sensor; the self-calibration plane mirror is movably arranged on a lens barrel of the optical system.

In the armed aircraft axis target calibration instrument with the self-calibration function, the self-calibration plane mirror is of a step-shaped cylindrical structure and comprises a reflector surface, a third reference surface parallel to the reflector surface and a second reference surface perpendicular to the reflector surface.

In the armed aircraft axis boresight instrument with the self-calibration function, the second reference surface is tightly attached to the inner ring of the lens cone, and the third reference surface is tightly attached to the first reference surface of the lens cone.

In the armed aircraft axis boresight instrument with the self-calibration function, the boresight instrument further comprises a reference plane mirror, the reference plane mirror is installed on an axis to be calibrated of the aircraft, and the normal line of the reference plane mirror is parallel to the axis direction of the axis to be calibrated.

In the armed aircraft axis boresight instrument with the self-calibration function, the reference plane mirror comprises a reference mirror surface, a fixed round handle and a positioning spring, the fixed round handle is inserted into the round hole of the shaft to be calibrated or the tooling thereof, and the outer circular surface of the fixed round handle is tightly attached to the inner circular surface of the shaft to be calibrated or the tooling round hole by the elasticity of the positioning spring.

In the armed aircraft axis boresight instrument with the self-calibration function, the optical system further comprises a first cemented semi-reflecting prism arranged on the optical axis of the focusing lens group, and the light source is a tungsten lamp arranged on a reflection light path of the first cemented semi-reflecting prism.

In the armed aircraft axis boresight instrument with the self-calibration function, a cross-shaped diaphragm is arranged between the tungsten filament lamp and the first cemented semi-reflecting prism.

In the armed aircraft axis boresight instrument with the self-calibration function, the optical system further comprises a second cemented semi-reflecting prism arranged on the optical axis of the focusing lens group, and the light source is a visible light laser arranged on a reflection light path of the second cemented semi-reflecting prism.

In the armed aircraft axis boresight instrument with the self-calibration function, the visible light laser is a green light laser with a cross-shaped output light spot.

In the armed aircraft axis boresight instrument with the self-calibration function, the inertia measurement unit is an optical fiber strapdown inertial navigation system, and the image sensor is a CCD sensor; and a display screen is also arranged on the main machine of the target correcting instrument.

The utility model has the advantages of as follows:

1. the utility model discloses an optical system has realized the calibration of weapon equipment multiaxial parallelism with inertial measurement appearance phase combination, utilizes optical technology means in synthesizing the school target appearance, and the direction of aircraft (helicopter) reference shaft and quilt school target weapon system axle is drawn forth in accurate the leading to adopted inertial measurement technique to obtain aircraft (helicopter) reference shaft and the space gesture of quilt school target weapon system axle in real time, can the automatic measurement at present moment weapon system's axial deviation through computer interpretation and operation. Because the target correcting instrument has a self-calibration function, the emergent light beams of the internal visible laser and the tungsten lamp can be ensured to be imaged at a set position by depending on the matching relationship between the external self-calibration plane mirror and the lens barrel, and the optical precision of the target correcting instrument is ensured. The target correcting instrument is used for correcting a plurality of axial targets of the airplane, has high calibration precision, is convenient and quick to use, overcomes interpretation errors existing in traditional subjective measurement, increases the automation degree of target correction, is not only suitable for being used by the airplane (helicopter) under the conditions of maintenance and assembly, but also can be used in shipborne, hangar, strong wind or narrow and disordered working space.

2. The utility model discloses but the space gesture of real-time measurement aircraft (helicopter), fix a position the orientation to it, accomplish aircraft (helicopter) self school target, be particularly useful for the school target operation under the carrier-based aircraft parking state, can realize regular maintenance of equipment such as aircraft (helicopter) weapon stores pylon, aerogun, rocket transmitter, head-up display, photoelectricity nacelle sighting device, photoelectric radar, overhaul before the shooting training and work such as the specific maintenance of weapon system before the combat, liberate operating personnel from numerous and complicated and lengthy school target in-process. In the whole target calibration process, only the self-carried high-precision inertial navigation on the target calibration instrument has drift errors, the inertial navigation drift is small in the target calibration process controlled within 1 hour, the system adopts CCD image display and computer operation, and the whole process is directly checked through a sensor, so that errors caused by human eye interpretation are avoided, and the precision of the target calibration system is greatly improved.

3. The utility model discloses only need use in the use to synthesize school target appearance host computer or host computer cooperation plane speculum use, can calculate the axial error of treating school target weapon system (head up display, weapon stores pylon, photoelectricity nacelle sighting device, photoelectric radar etc.) in the twinkling of an eye, equipment is small, light in weight, but handheld operation adopts the modularized design simultaneously, and maintainability is good, and interchangeability is good, expands all armed aircraft (helicopters) easily.

Drawings

FIG. 1 is a schematic diagram of the principle of the integrated boresight instrument of the present invention;

FIG. 2 is a schematic diagram of the optical system of the comprehensive boresight instrument of the present invention;

FIG. 3 is a diagram of the self-calibration reflector of the present invention for use in a comprehensive boresight instrument;

FIG. 4 is a schematic diagram of the self-calibration principle of the comprehensive boresight instrument of the present invention;

FIG. 5 shows the principle of the present invention that the reflector causes angular deflection;

FIG. 6 is a schematic diagram illustrating the principle of the imaging deviation caused by oblique incident light according to the present invention;

FIG. 7 is a schematic diagram of the measurement of spatial attitude parameters by the combination of the optical system and the inertial navigation system in the boresight instrument of the present invention;

FIG. 8 is a schematic view of the structure of the reference plane mirror of the present invention

FIG. 9 is a schematic diagram of the comprehensive boresight instrument of the present invention for multi-class axial calibration;

FIG. 10 is a schematic diagram of the operation of the comprehensive boresight calibration instrument of the present invention;

FIG. 11 is a schematic diagram of the comprehensive boresight instrument for calibrating a weapon camera according to the present invention;

fig. 12 is the utility model discloses synthesize the school target appearance and be used for laser rangefinder axial calibration schematic diagram.

The reference numbers are as follows: 1-an optical system; 2-an image processing unit; 3-a display screen; 4-an inertial measurement unit; 5-a machine shell; 6-a lens barrel; 7-a first datum plane; 8-self-calibrating the plane mirror; 10-optical axis; 11-a secondary mirror; 12-a primary mirror; 13-a first cemented semi-reflecting prism; 14-second cemented semi-reflecting prism; 15-an image sensor; 16-a diaphragm; 17-tungsten filament lamp; 18-visible laser; 20-a main control unit; 21-image point; 22-a focusing lens group; 23-ideal mirror surface; 24-actual mirror surface; 50-laser rangefinder; 51-a light attenuation sheet; 52-light absorbing sheet; 60-aircraft longitudinal axis; 61-a reference plane mirror; 62-fixing the round handle; 63-positioning the reed; 64-a reference mirror; 65-outer circular surface; 70-a camera lens; 81-mirror surface; 82-a second datum plane; 83-third datum level.

Detailed Description

As shown in fig. 1 to 3, the comprehensive boresight instrument is composed of a main unit of the comprehensive boresight instrument, a main control unit 20, a reference plane mirror 61 and its tooling, a weapon system adaptor, a tripod and a connecting cable. In fig. 2, the integrated boresight instrument host comprises an optical system 1, an image processing unit 2, a display screen 3 and an inertial measurement unit 4 which are arranged inside a casing 5; wherein the direction of the flight axis of the inertial measurement unit is consistent with the direction of the optical axis of the optical system 1.

The optical system 1 comprises a secondary mirror 11, a primary mirror 12, a first cemented semi-reflecting prism 13, a second cemented semi-reflecting prism 14 and an image sensor 15 which are coaxially arranged in sequence along the direction of an optical axis 10, wherein the secondary mirror 11 and the primary mirror 12 are both of hollow structures, and a focusing lens group is formed in a spatial position; a tungsten lamp 17 and a visible light laser 18 are respectively arranged on the reflection light paths of the first gluing semi-reflecting prism 13 and the second gluing semi-reflecting prism 14, a cross-shaped diaphragm 16 is arranged between the tungsten lamp 17 and the first gluing semi-reflecting prism 13, the visible light laser 18 is a green laser with cross-shaped output light spots, the light spots are cross-shaped, and the divergence angle is not more than 0.2 mrad. The tungsten filament lamp 17 has an emission spectrum of 0.47-5 μm, and gives consideration to visible light, near infrared and intermediate infrared, and the optical system is installed in the lens barrel 6. The image sensor 15 adopts the CCD to carry out digital processing on the obtained image, so that the interpretation error of the traditional subjective measurement is overcome, the target calibration precision is improved, and the target calibration time is shortened.

When the device is used, the green cross laser 18 emits collimated cross laser, the collimated cross laser is reflected by the second gluing semi-reflecting prism 14 and then is directly transmitted to a target to be detected through the central light through hole of the secondary mirror 11, and the axis of the weapon rack can be calibrated by using the light path. Meanwhile, a tungsten lamp 17 can be used for emitting light, the light passes through a cross diaphragm 16 and then enters a first gluing semi-reflecting prism 13, and the light is reflected into a clamping system consisting of a secondary mirror 11 and a primary mirror 12, so that the light is collimated and output to a target to be detected; the tungsten lamp 17 can image on the visible light sensor and the infrared sensor, and the visible light/infrared sensor is calibrated by using the light path. In system debugging, laser emitted by a visible light laser 18 and light emitted by a combination of a tungsten filament lamp 17 and a diaphragm 16 have higher coaxiality, so that the optical system is an auto-collimation system, can be suitable for correcting optical axes of an infrared camera and a visible light camera by an external field, and can also receive laser incident into the auto-collimator to correct the optical axis of the laser.

The inertial measurement unit 4 adopts a commercially available optical fiber strapdown inertial navigation system, is based on the principle of an optical fiber gyroscope, has small volume and light weight, is convenient for handheld measurement, and is mainly used for measuring the attitude angle of the host machine of the comprehensive target calibration instrument in real time, wherein the optical fiber strapdown inertial navigation component consists of a high-precision triaxial optical fiber gyroscope and an accelerometer, is arranged on a base shell of the host machine of the comprehensive target calibration instrument, and is axially parallel to the collimating optical measurement component. The optical fiber strapdown inertial navigation calculates data information such as course angle, pitch angle, roll angle and the like of the carrier in real time at a high speed by measuring the rotation angle rate and acceleration information of the carrier.

The image processing unit 2 processes and calculates imaging video data of the emitted light beam and the reflected light beam, a display screen 3 is installed on a host of the comprehensive boresight instrument, the display screen is mainly used for inputting control instructions and displaying measurement results, an 8-inch liquid crystal display screen is selected, the display screen has a touch screen function, and is used for selecting data input and data input of a boresight mode, boresight time, machine types, machine numbers and the like after starting up, and meanwhile, measurement errors, imaging positions and boresight measurement results of two inertial navigations can be displayed.

The main control unit 20 is composed of an industrial personal computer and a power supply module, is an operation control center of the system, and performs operation and image processing by receiving attitude data of airborne inertial navigation, attitude data of a comprehensive target correcting instrument host and space imaging data of a CCD (charge coupled device), and finally calculates the axial deflection angle of the weapon system.

In fig. 3 and 4, the self-calibration plane mirror 8 is used for self-calibration of the integrated target calibration instrument main unit, can be positioned and installed on the lens barrel 6 of the optical system 1 with high precision, and is self-calibrated by using an internal visible laser 18 or a tungsten lamp 17. The self-calibration plane mirror 8 is of a step-shaped cylindrical structure and comprises a reflection mirror surface 81, a third reference surface 83 parallel to the reflection mirror surface 81 and a second reference surface 82 perpendicular to the reflection mirror surface 81, the second reference surface 82 is tightly attached to the inner ring of the lens barrel 6 during installation, the third reference surface 83 is tightly attached to the first reference surface 7 of the lens barrel 6, and proper mechanical tolerance is set to ensure installation accuracy. During calibration, the visible light laser 18 or the tungsten lamp 17 emits light, emergent light is reflected by the reflecting mirror 81 and then imaged at a set position on the image sensor 15, so that the self calibration of the host machine of the comprehensive target calibration instrument is realized, and once deviation occurs in the position of an imaging point, a light path device or a mechanism of the target calibration instrument needs to be adjusted to meet the design requirement.

When the target is calibrated, a reference plane mirror needs to be installed on the carrier, and the direction of the normal line of the reference plane mirror is consistent with the direction of an axis to be calibrated of the airplane (helicopter). Thus, the reference plane mirror provides a reference plane perpendicular to the reference axis of the airplane (helicopter) for the system, and the reference plane mirror is mainly used for completing the initial alignment of the main machine of the comprehensive target calibration instrument.

In fig. 5, light emitted from the boresight instrument along the optical axis 10 is reflected by the reference plane mirror and then enters the inside of the boresight instrument. Ideally, the ideal mirror 23 of the reference plane mirror is perpendicular to the optical axis 10, but due to assembly and long-term use, there is a deviation angle θ between the actual mirror 24 and the ideal mirror 23, which is also why the aircraft needs to be calibrated frequently. According to the principle of light reflection, the angle between the light reflected by the actual mirror surface 24 and the optical axis becomes 2 θ.

In fig. 6, when the reflected light enters the focusing lens set 22 of the boresight at an included angle of 2 θ (paraxial conditions), and forms an image at a position spaced from the image sensor 15 by a distance L, the focal length of the focusing lens set 22 is f, so that there is a certain distance

L=2fθ

Conversely, the deviation angle θ can also be calculated from L and f.

As shown in fig. 7, the direction and angle of the boresight instrument of the present invention are defined with reference to the attitude of the airborne navigation. The direction of the optical axis 10 is consistent with the direction of the course axis (Y axis) of the boresight inertial measurement unit 4, the light reflected from the reference plane mirror passes through the focusing lens group 22 and is imaged on the image point 21 of the image sensor 15, and the x axis and the z axis represent the pixel coordinate axes of the image sensor 15. As can be seen from the principle of fig. 5 and 6, by acquiring the coordinates Lx and Lz of the image point 21 on the X-axis and Z-axis of the image sensor and the focal length f of the focusing lens group 22, the deviation angle of the reference plane mirror can be known, and the axial deviation angles θ X and θ Z of the calibrated axis in the X-axis and Z-axis directions can be calculated and obtained

θx=Lx/2f

θz=Lz/2f

The direction of the optical axis 10 is consistent with the direction of the course axis (Y axis) of the target calibration instrument inertia measurement unit 4, so that the angle parameter of the inertia measurement unit 4 and the axial deviation angle of the optical system can be converted into the attitude angle of the calibrated axis by adding in the calculation, wherein alpha represents the course angle, beta represents the pitch angle, and gamma represents the roll angle. Assuming that the true attitude angle of the calibrated axis is Ω (α 2, β 2, γ 2), the angle parameter obtained by the inertial measurement system on the calibrator is (α 1, β 1, γ 1), and the axial deviation angle on the calibrator is (θ x, θ z), Ω (α 2, β 2, γ 2) can be obtained by simple coordinate transformation from Ω (α 1+ θ x, β 1+ θ z, γ 1). In actual measurement, the included angle between the reflected light beam passing through the reference plane mirror and the optical axis is not too large, so that the measurement requirement can be met when the imaging point 21 is within the effective pixel range of the image sensor 15, and rapid axial calibration is realized.

As shown in fig. 8 and 9, the reference plane mirror 8 is connected with the weapon and the sensor through various tools and adapters, and has a precise assembly relation with the airplane (helicopter), so that the normal of the mirror surface of the reference plane mirror can accurately reflect the azimuth and the pitch angle of the weapon/sensor to be calibrated. Generally, when an airplane (helicopter) leaves a factory, tools such as an airplane longitudinal axis 60 (reference axis) and a weapon system launching axis are equipped on the airplane, so that only the reference plane mirror 8 needs to be fixedly installed on the tool on the axis to be calibrated, the mirror surface is perpendicular to the calibrated axis, and the normal line of the mirror surface can accurately reflect the course angle and the pitch angle of the airplane body. The structural schematic diagram of the reference plane mirror 61 is shown in fig. 8, and includes a reference mirror surface 64, a fixed round handle 62 and a positioning reed 63, the fixed round handle 62 is inserted into a tool round hole of an airplane longitudinal axis or a weapon system launching shaft, the surface of the fixed round handle 62 is an outer round surface processed with high precision, and the outer round surface 65 of the fixed round handle 62 is tightly attached to the inner round surface of the tool round hole under the elastic action of the positioning reed 63, so as to ensure that the fixed round handle 62 is coaxial with the axis of the tool, further ensure that the normal of the reference mirror surface 64 is coaxial with the axis of a shaft to be checked, and ensure the installation precision; the reference mirror 64 is a functional part of this component and is used to reflect the light emitted from the target calibration instrument back into the target calibration instrument and image it on the CCD to complete the optical measurement.

When the imaging device is applied, light emitted by a light source tungsten lamp 17 and a visible light laser 18 in the optical system 1 passes through an objective lens (namely the secondary mirror 11 and the primary mirror 12) or directly passes through a through hole in the secondary mirror 11 to form a beam of parallel light which irradiates on a reference plane mirror 61, if the reference plane mirror 61 is perpendicular to the optical axis of the objective lens, reflected light returns along the original path, and after passing through the objective lens, an imaging point falls on the focus of the objective lens, namely the central position of an image sensor CCD (charge coupled device), and the position is determined as the zero position of the imaging point; if the reference plane mirror 61 is not perpendicular to the optical axis of the objective lens, the axial deviation angle can be calculated according to the principle of fig. 7, and once the deviation angle exceeds the allowable range, the measured axis needs to be mechanically adjusted.

Tripod (optional): and the comprehensive target calibration instrument host is supported, and the stable erection of the equipment is ensured.

Connecting cables: the device comprises a communication cable and a power supply cable which are used for transmitting image video and connecting equipment power supply.

The utility model discloses a synthesize school target appearance can realize following axial calibration: (1) calibrating the optical axis of an airplane crankshaft and a photoelectric pod aiming device; (2) the calibration function of weapon axes of various weapon hangers (missile, rocket projectile, aerogun and the like); (3) a head-up display aiming axis calibration function; (4) and the calibration function of the installation error of the photoelectric radar.

As is known, the target calibration situation of an airplane (helicopter) when the airplane is parked on land is relatively simple, and under the shipboard situation, the body posture of the airplane (helicopter) can be changed in real time due to the movement of a ship body, the target calibration site is narrow and small, the marine climate environment is severe, and meanwhile, the body can swing under the influence of sea waves, incline due to elastic deformation of tires, shake due to the influence of a damping device of an undercarriage, and the like, so that a lot of difficulties are added to the target calibration work of the shipboard aircraft. In order to effectively solve the problems, an inertial measurement technology is adopted in the comprehensive boresight calibrating instrument to acquire the space postures of a reference shaft of an airplane (helicopter) and a boresight weapon system shaft in real time, the space position relation between the boresight calibrating instrument and the airplane and boresight equipment is acquired instantly by using an optical technical means, and the axial deviation of the weapon system at the current moment can be automatically measured through computer interpretation and operation, so that the axis directions related to weapons are adjusted to be consistent with the longitudinal axis of the airplane or a specified angle.

The technical key of the comprehensive boresight instrument is how to quickly acquire the longitudinal axis direction of the airplane. The system makes the mirror surface perpendicular to the reference axis of the body by installing the reference plane mirror 61 at a designated position of the body and a tool, namely, the direction of the normal line of the mirror surface represents the direction of the reference axis of the body. This provides the basis for the fast establishment of the coordinate system of the body. The attitude angle of each measured point is measured by the same method, and the error of each measured point is obtained by calculation. When the device is used, the comprehensive target calibration instrument main machine aims at a reference plane mirror 61 arranged on the longitudinal axis of the airplane to emit a beam of parallel light, the parallel light is reflected by a mirror surface and then is turned back into the target calibration instrument main machine, an image is formed on a CCD (charge coupled device) of a focal plane, and the space attitude of the longitudinal axis of the airplane, namely a fuselage reference axis, can be measured according to the principle. Comparing the measurement result of the comprehensive target calibration instrument with the attitude angle data of the airborne inertial navigation, detecting the difference value of the measurement data of the two inertial navigations, storing the difference value and compensating the measurement data of the airborne inertial navigation; and taking the compensated space attitude of the longitudinal axis of the airplane as a zero reference for system calibration, and establishing a space three-dimensional coordinate system of the airplane body by taking the space attitude as the reference.

In the space coordinate system, all axes of the weapon system are calibrated, and the attitude data of the axes of the weapon system is measured by using a collimating optical imaging and image interpretation mode, so that the axial deviation of the weapon system is finally obtained, and the adjustment of the space position of the weapon system is guided. The axial errors of all weapon systems are adjusted to be consistent (preferably 0 error), so that the axes of all calibrated weapon systems are ensured to be in a parallel state (or a specified angle) with the longitudinal axis of the airplane, namely the reference axis of the fuselage, and the consistency target calibration of the weapon systems is realized. If the calibrated axial error exceeds the error range of the system distribution, the mechanical structure of the weapon system needs to be calibrated, so that the axial error is limited within the allowable range of the system. The operator carries out the school target mode selection and operation instruction input through display screen 3, and image processing unit 2 exports the school target result and shows on display screen 3, and display screen 3 includes upper screen and side position screen, shows different contents respectively according to the convenience of field operation.

As shown in fig. 10-12, the following is a process for calibrating a weapon for a model drone. In fig. 10, the calibration process includes the aircraft longitudinal axis, the weapon system axis, the optical system aiming axis, which in turn includes the laser rangefinder, the visible light camera, the near infrared camera, and the heads up display, wherein the weapon system axis and the optical system aiming axis are parallel. The practice of boresight is essentially to adjust the weapon system axis, the optical sighting axis and other axes to be parallel to or at a specified angle with respect to the longitudinal axis of the aircraft (fuselage reference axis) or to measure the angular deviation between the weapon system axis, the optical sighting axis and other axes and the longitudinal axis of the aircraft. The method comprises the following steps:

aircraft longitudinal axis: the reference plane mirror 61 is installed on a longitudinal axis interface of the airplane through the tool, and the normal line of the reference plane mirror 61 is parallel to the longitudinal axis of the airplane, so that the normal line of the reference plane mirror 61 can represent the longitudinal axis of the airplane. As shown in fig. 6, the visible laser 18 emits a parallel light beam, and the parallel light beam is reflected back when encountering a reference plane mirror 61 mounted on the body, enters the boresight main body again, and is imaged on the CCD. Through the calculation of the position of the imaging point, the included angle between the axis of the light collimation measuring instrument and the normal of the plane reflector can be calculated, so that the space attitude parameter of the longitudinal axis of the airplane is obtained, and the specific working principle is shown in fig. 8.

Weapon system shaft: an independent reference plane mirror 61 is installed on an interface of a longitudinal axis of each weapon through a tool, the normal line of the reference plane mirror 61 is consistent with the launching axis of the weapon, so that the normal line of the reference plane mirror 61 represents the launching axis of each weapon, a specific calibration method is consistent with the method of the longitudinal axis of the airplane, and a specific working principle is that the same target correcting method is adopted for weapons of other platforms such as missiles, rocket bullets, machine guns and bomb hangers as shown in fig. 6, and the purpose is to adjust the axial directions of the plane mirrors and the longitudinal axis of the airplane to be parallel to each other.

Aiming axis of optical system: the optical sighting axis in turn includes a laser rangefinder, a visible light camera, a near infrared camera, and a heads-up display.

The laser range finder can emit a laser beam, the direction of the laser beam is the direction of the aiming axis, and the direction of the laser beam can be measured by using an optical system of the comprehensive target correcting instrument. As shown in fig. 11, the boresight measurement method is similar to the previous one, except that the light source is not emitted by the light collimation measurement instrument, but is a laser emitted by an onboard laser rangefinder. The laser emitted by the laser range finder is strong, and in order to protect the optical system from being burnt out by the laser, a light attenuation sheet 51 is added in front of the secondary mirror 11 before measurement, so that the laser energy entering the system can not burn out the optical system; if necessary, the light absorption sheet 52 is additionally arranged between the light attenuation sheet 51 and the secondary mirror 1, and the caliber of the light absorption sheet 52 is larger than the size of the central through hole of the secondary mirror 11, so that the light which enters the secondary mirror after passing through the light attenuation sheet 51 can not influence the measurement, otherwise, the light can directly pass through the central through hole of the secondary mirror to carry out secondary imaging on ccd, especially, the distortion of an imaging light spot is generated during oblique incidence, and the judgment of the position of the image point 21 is influenced.

Visible camera and infrared camera optical axes: both the visible light camera and the infrared camera are imaging devices including an optical lens and a CCD, and can output a video signal. As shown in fig. 12, the optical system of the integrated boresight instrument is directly opposite to the camera lens during calibration, the camera images the parallel light emitted by the boresight instrument, the parallel light is imaged on the CCD of the camera, and the image is connected to the boresight instrument through the video interface on the photoelectric pod, and referring to the principle of fig. 5 and 6, the boresight instrument can calculate the parallel light to obtain the included angle between the boresight instrument and the camera optical axis, and further obtain the angle deviation between the camera optical axis and the airplane longitudinal axis.

Head-up display axis: and (3) installing an adapter tool on the leading-out shaft of the head-up display, and calibrating according to the shaft calibrating method which is the same as that of the weapon system shaft, so as to finally obtain the shaft deflection angle of the head-up display. And other aerogun and rocket launcher adopt specific adapter tools for measurement after adapter.

It should be noted that, for optical axis calibration of the laser range finder, the visible light camera and the infrared camera, except that the reference plane mirror 61 is not required to be installed, the direction of the incident laser is the direction of the optical axis, that is, the incident angle in fig. 6 is θ instead of 2 θ, and the calibrated axial attitude angle parameter is represented as Ω (α + θ x, β + θ z, γ); wherein θ X = Lx/f, θ Z = Lz/f respectively represent axial deviation angles of the incident laser axis in the X-axis and Z-axis directions, f is a focal length of the imaging lens unit in the camera, and Lx and Lz are coordinate values of the focused image point on the X-axis and Z-axis of the camera image sensor; and (alpha, beta, gamma) is an angle parameter obtained by measurement of an inertia measuring instrument.

The utility model discloses a synthesize school target appearance can be on the basis of the calibration of being used to lead to the machine, realized to weapon system axle, weapon hanger axle, laser range finder, visible light infrared camera, the calibration of relevant axis on the plane such as head-up display, whole school target in-process only synthesizes the leading of being used to of school target appearance and has the drift error, to the school target process of control within 1 hour, it is less to be used to lead the drift, and the system adopts CCD image display and computer operation, whole journey is through sensor direct check, avoided the people's eye to judge the error of reading and bringing, simultaneously because the system has the self calibration function, the precision of school target system has been improved greatly.

Claims

1. The utility model provides a boresight appearance of armed aircraft axis with self calibration function which characterized in that: the device comprises a self-calibration plane mirror (8), an optical system (1) arranged in a shell (5), an image processing unit (2) and an inertial measurement instrument (4); the direction of the flight direction axis of the inertial measurement instrument (4) is consistent with the direction of the optical axis of the optical system (1); the optical system (1) comprises a light source, a focusing lens group and an image sensor (15) arranged at the focal point of the focusing lens group, wherein the image sensor is arranged at the focal point of the focusing lens group, and an image processing unit (2) is used for carrying out data processing on an image of the image sensor (15); the self-calibration plane mirror (8) is movably arranged on a lens barrel (6) of the optical system (1).

2. The boresight instrument equipped with an aircraft axis with self-calibration function according to claim 1, wherein: the self-calibration plane mirror (8) is of a step-shaped cylindrical structure and comprises a reflecting mirror surface (81), a third reference surface (83) parallel to the reflecting mirror surface (81) and a second reference surface (82) perpendicular to the reflecting mirror surface (81).

3. The boresight instrument equipped with an aircraft axis with self-calibration function according to claim 2, wherein: the second reference surface (82) is mounted in close contact with the inner ring of the lens barrel (6), and the third reference surface (83) is mounted in close contact with the first reference surface (7) of the lens barrel (6).

4. The boresight instrument equipped with an aircraft axis with self-calibration function according to claim 1, wherein: the target correcting instrument further comprises a reference plane mirror (61), the reference plane mirror (61) is installed on an axis to be calibrated of the airplane, and the normal line of the reference plane mirror (61) is parallel to the axis direction of the axis to be calibrated.

5. The boresight instrument equipped with an aircraft axis with self-calibration function according to claim 4, wherein: the reference plane mirror (61) comprises a reference mirror surface (64), a fixed round handle (62) and a positioning spring leaf (63), wherein the fixed round handle (62) is inserted into the round hole of the shaft to be calibrated or the tooling thereof, and the outer circular surface (65) of the fixed round handle (62) is tightly attached to the inner circular surface of the shaft to be calibrated or the tooling round hole by means of the elastic force of the positioning spring leaf (63).

6. The boresight instrument equipped with an aircraft axis with self-calibration function according to claim 1, wherein: the optical system also comprises a first cemented semi-reflecting prism (13) arranged on the optical axis of the focusing lens group, and the light source is a tungsten lamp (17) arranged on the reflection light path of the first cemented semi-reflecting prism (13).

7. The boresight instrument equipped with an aircraft axis with self-calibration function according to claim 6, wherein: a cross-shaped diaphragm (16) is arranged between the tungsten lamp (17) and the first gluing semi-reflecting prism (13).

8. The boresight instrument equipped with an aircraft axis with self-calibration function according to claim 1, wherein: the optical system also comprises a second gluing semi-reflecting prism (14) arranged on the optical axis of the focusing lens group, and the light source is a visible light laser (18) arranged on the reflection light path of the second gluing semi-reflecting prism (14).

9. The boresight instrument equipped with an aircraft axis with self-calibration function according to claim 8, wherein: the visible light laser (18) is a green light laser with cross-shaped output light spots.

10. The boresight instrument equipped with an aircraft axis with self-calibration function according to claim 1, wherein: the inertial measurement instrument (4) is an optical fiber strapdown inertial navigation system, and the image sensor (15) is a CCD sensor; and a display screen (3) is also arranged on the main machine of the target correcting instrument.