A high-precision gun adjustment detection method based on optical differential GPS combination

Abstract

The present invention relates to a high-precision gun adjustment detection method based on optical differential GPS combination, which constructs a coordinate system; records the measurement value of the initial state when the gun is in the initial state; and records the measurement value of the elevated state when the gun is in the elevated state; and calculates the posture of the gun barrel through the conversion of the coordinate system according to the measurement values ​​recorded in different states of the gun. The present invention uses differential GPS to assist optical measurement, provides absolute information, and obtains the true posture of the gun barrel through compensation and other means. That is, it absorbs the advantages of optical measurement and can obtain the posture information of the gun barrel in the geographic coordinate system.

Description

Technical Field

[0001] The invention belongs to the field of inertial navigation system accuracy inspection, in particular to a high-precision gun adjustment detection method based on optical differential GPS combination. Background Art

[0002] At present, the commonly used methods for gun adjustment accuracy detection are optical detection method and dual theodolite method. The optical detection method is a relative measurement method, which can only obtain the relative attitude of the gun barrel, but cannot obtain the attitude angle of the gun barrel in the geographic coordinate system. The dual longitude and latitude method requires obtaining an accurate azimuth in an open area, aiming at the marking point on the gun barrel to obtain the gun barrel attitude. This method takes a long time to obtain an accurate azimuth value. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and propose a high-precision gun adjustment detection method based on optical differential GPS combination, which provides absolute information based on differential GPS-assisted optical measurement and obtains the true posture of the gun barrel through compensation and other means. That is, it absorbs the advantages of optical measurement and obtains the posture information of the gun barrel in the geographic coordinate system.

[0004] The present invention solves the technical problem by adopting the following technical solutions:

[0005] A high-precision gun adjustment detection method based on optical differential GPS combination includes the following steps:

[0006] Step 1: Construct a coordinate system;

[0007] Step 2: When the gun is in the initial state, record the measurement value of the initial state;

[0008] Step 3, when the gun is in the raised state, record the measured value of the raised state;

[0009] Step 4: Calculate the gun barrel's posture based on the coordinate system of step 1 and the measurement values ​​recorded in steps 2 and 3.

[0010] Moreover, the coordinate system of step 1 includes: a reference system, an artillery system, a turntable system, a camera system and a geographic system.

[0011] Reference system O-XYZ: The origin is O at the gun rotation center, the Y axis is the line from the gun rotation center to the crosshair center in the initial state, and points to the crosshair center, the X axis is the gun horizontal axis pointing to the right, and the Z axis points to the zenith, forming a right-handed system;

[0012] Artillery OX P Y P Z P : The origin is O at the gun rotation center, Y P Axis is the barrel axis, X PThe Z axis is the horizontal axis of the gun pointing to the right. P The axis points to the zenith, forming a right-handed system;

[0013] Rotary table series O T -X T Y T Z T :The origin is O at the center of the turntable T , Y T The axis is the turntable zero line (barrel axis), the XT axis is the turntable horizontal axis (rotation axis) pointing to the right, and the ZT axis points to the zenith, forming a right-handed system;

[0014] The camera is installed at the center of the single-axis turntable. M -X M Y M Z M : The origin is at the center of the camera. M , Y M Axis is the camera optical axis, X M The axis is the horizontal axis of the turntable pointing to the right, Z M The axis points to the zenith, forming a right-handed system;

[0015] Geographical system Ot-XtYtZt: Northeast celestial coordinate system.

[0016] Moreover, in step 2, the initial state of the gun is that the gun is in a horizontal position, and its roll angle is γ; the gun is aimed at the crosshairs directly in front; the horizontal axis of the platform is adjusted to the horizontal through the level bubble; the platform rotation angle output is 0;

[0017] The measured value of the gun in the initial state is: the distance L from the gun rotation center to the turntable center; the distance L from the turntable center to the crosshair center measured by the laser ranging module 1 ; The distance l from the electrical phase center of the first satellite antenna to the center of the turntable 1 ; The distance l from the electrical phase center of the second satellite antenna to the center of the crosshairs 2 ; The satellite orientation instrument outputs the high and low angle β' and the azimuth α of the geographic coordinate system, the high and low angle

[0018] Moreover, the first satellite antenna is installed on the top of the gun barrel, and the second satellite antenna is installed on the top of the crosshairs.

[0019] Moreover, in the step 3, the gun is in an elevated state: the gun rotation center is O, the turntable center is A in the initial state, the crosshair center is B, the turntable center in the gun elevated state is A', and the point where the camera optical axis is aimed at the crosshairs in the gun elevated state is B';

[0020] The measured value of the gun raised state is: the rotation angle θ of the turntable 1 ; Distance L from the center of the turntable to the center of the crosshairs2 ; The distance X between the aiming point of the camera optical axis aiming at the crosshairs and the crosshairs.

[0021] Moreover, the specific implementation method of step 4 is:

[0022] The vector of the gun in the reference frame at the initial state for:

[0023]

[0024] Vector of the gun in the elevated state for:

[0025]

[0026] Vector in the reference frame for:

[0027]

[0028] Vector in the camera frame for:

[0029]

[0030] The crosshair coordinate system is the same as the reference system. The coordinate vector of the crosshair is for:

[0031]

[0032] Vector in the reference frame for:

[0033]

[0034] As the gun is raised, the turntable drives the camera down, and the turntable's angle is θ 1 , the camera is centered around its X M Axis positive rotation θ 1 Go to the turntable system, coordinate transformation matrix T 1 for:

[0035]

[0036] Since the gun has a roll angle, the horizontal axis of the turntable is horizontal in the initial state. P X of axis and rotary table system T The axis has an angle γ, and the turntable rotates around its Y T The axis rotates in the negative direction by an angle γ to the artillery system, and the coordinate transformation matrix T 2 for:

[0037]

[0038] In the raised state, the gun barrel rotates around the horizontal axis of the gun by an angle of θ compared to the initial state, and the gun system rotates around the X P The axis rotates in the negative direction by an angle θ to the reference system, and the coordinate transformation matrix T 3 for:

[0039]

[0040] Vector transforming from the camera frame to the reference frame for:

[0041]

[0042] The vector of the gun in the reference frame in the initial state In the reference frame Vector, in the reference frame Vector, transform from camera frame to reference frame Vector, coordinate transformation matrix T 1 , coordinate transformation matrix T 2 and the coordinate transformation matrix T 3 Substitute the vector when the gun is raised get:

[0043]

[0044] After expanding the matrix, we get:

[0045] 0 = -sinγsinθ 1 L 2 +X

[0046] L+L 1 =Lcosθ+(cosθcosθ 1 +sinθcosγsinθ 1 )L 2

[0047] 0 = Lsinθ + (sinθ cosθ 1 -cosθcosγsinθ 1 )L 2

[0048] Then we get:

[0049]

[0050]

[0051]

[0052] The rotation matrix from the reference system to the geographic system is the T matrix. The reference system first rotates around its Y axis in the positive direction by an angle γ, and the resulting rotation matrix is:

[0053]

[0054] The reference system is then rotated around the negative X-axis by an angle of β, and the resulting rotation matrix is:

[0055]

[0056] The reference system finally rotates positively around the Z axis by an angle α, and the resulting rotation matrix is:

[0057]

[0058] Then we get the T matrix:

[0059]

[0060] After the barrel is raised, the vector of the barrel in the geographic system is The vector in the reference frame Multiplying it with the T matrix gives the barrel's vector in the geographic system:

[0061]

[0062] The elevation angle β of the gun barrel in the geographic system is obtained by solving t :

[0063]

[0064] The azimuth angle α of the gun barrel in the geographic system t

[0065]

[0066] The advantages and positive effects of the present invention are:

[0067] The present invention constructs a coordinate system; records the measurement value of the initial state when the gun is in the initial state; and records the measurement value of the elevated state when the gun is in the elevated state; and calculates the posture of the gun barrel through the conversion of the coordinate system according to the measurement values ​​recorded in different states of the gun. The present invention uses differential GPS to assist optical measurement, provides absolute information, and obtains the true posture of the gun barrel through compensation and other means. That is, it absorbs the advantages of optical measurement and can obtain the posture information of the gun barrel in the geographic coordinate system. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 It is the detection principle diagram of the present invention;

[0069] Figure 2 It is a schematic diagram of the coordinate system of the present invention. DETAILED DESCRIPTION

[0070] The present invention is further described in detail below with reference to the accompanying drawings.

[0071] A high-precision gun adjustment detection method based on optical differential GPS combination, such as Figure 1 As shown, the following steps are included:

[0072] Step 1: Construct a coordinate system including the reference system, artillery system, turntable system, camera system and geographic system.

[0073] like Figure 2 As shown, the reference system O-XYZ: the origin is O at the gun rotation center, the Y axis is the line from the gun rotation center to the crosshair center in the initial state, and points to the crosshair center, the X axis is the gun horizontal axis (pitch axis) pointing to the right, and the Z axis points to the zenith, forming a right-handed system.

[0074] Artillery OX P Y P Z P : The origin is O at the gun rotation center, Y P Axis is the barrel axis, X P The Z axis is the gun's horizontal axis (pitch axis) pointing to the right. P The axis points to the zenith, forming a right-handed system.

[0075] 3. Rotary table system-X T Y T Z T :The origin is O at the center of the turntable T , Y T The axis is the zero line of the turntable (the axis of the gun barrel), X T The axis is the horizontal axis (rotation axis) of the turntable pointing to the right, Z T The axis points to the zenith, forming a right-handed system.

[0076] 4. Camera system (O T ) M -X M Y M Z M :The origin is at the center of the camera (also the center of the turntable) M , Y M Axis is the camera optical axis, X M The axis is the horizontal axis (rotation axis) of the turntable pointing to the right, Z M The axis points to the zenith, forming a right-handed system.

[0077] 5. Department of Geography t -X t Y t Z t : Northeast celestial coordinate system.

[0078] Step 2: When the gun is in the initial state, record the measurement value of the initial state.

[0079] The initial state of the gun is that the gun is in a horizontal position with a roll angle of γ; the gun is aimed at the crosshairs directly in front; the horizontal axis of the platform is adjusted to horizontal through the level bubble; the platform rotation angle output is 0.

[0080] The measured value of the gun in the initial state is: the distance L from the gun rotation center to the turntable center; the distance L from the turntable center to the crosshair center measured by the laser ranging module 1 ; The distance l from the electrical phase center of the first satellite antenna to the center of the turntable 1 ; The distance l from the electrical phase center of the second satellite antenna to the center of the crosshairs 2 ; The satellite orientation instrument outputs the high and low angle β' and the azimuth α of the geographic coordinate system, the high and low angle

[0081] Among them, the first satellite antenna is installed on the top of the gun barrel, and the second satellite antenna is installed on the top of the crosshairs.

[0082] Step 3: When the gun is in the raised state, record the measured value of the raised state.

[0083] The gun is in the elevated state: the gun rotation center is O, the turntable center is A in the initial state, the crosshair center is B, the turntable center in the gun elevated state is A', and the point where the camera optical axis is aimed at the crosshairs in the gun elevated state is B';

[0084] The measured value of the gun raised state is: the rotation angle θ of the turntable 1 (Direct output from the turntable); Distance from the center of the turntable to the center of the crosshairs L 2 (It can be measured by the laser distance measurement module); the distance X between the aiming point of the camera optical axis aiming at the crosshairs and the crosshairs (it can be measured by the camera using the optical angle measurement method). At the same time, the camera aiming point is on the left side of the target board, X is positive, and the vector of X in the target board coordinate system is rightward, in the same direction as the X axis, so it is positive.

[0085] Step 4: Calculate the gun barrel's posture based on the coordinate system of step 1 and the measurement values ​​recorded in steps 2 and 3.

[0086] The vector of the gun in the reference frame at the initial state for:

[0087]

[0088] Vector of the gun in the elevated state for:

[0089]

[0090] Vector in the reference frame for:

[0091]

[0092] Vector in the camera frame for:

[0093]

[0094] The crosshair coordinate system is the same as the reference system. The coordinate vector of the crosshair is for:

[0095]

[0096] In the initial state, the crosshairs are facing the gun and adjusted to the level. It is assumed that the crosshairs coordinate system and the reference system coordinate axis are basically aligned, and only rotate around the Y axis. This is caused by the gun's roll angle. Since this roll angle is very small, the vector in the reference system for:

[0097]

[0098] The vector is transformed from the camera system to the reference system through the following three coordinate system rotations:

[0099] As the gun is raised, the turntable drives the camera down, and the turntable's angle is θ 1 , the camera is centered around its X M Axis positive rotation θ 1 Go to the turntable system, coordinate transformation matrix T 1 for:

[0100]

[0101] Since the gun has a roll angle, the horizontal axis of the turntable is horizontal in the initial state. P X of axis and rotary table system T The axis has an angle γ (i.e. -γ), and the turntable rotates around its Y T The axis rotates in the negative direction by an angle γ to the artillery system, and the coordinate transformation matrix T 2 for:

[0102]

[0103] In the raised state, the gun barrel rotates around the horizontal axis of the gun by an angle of θ compared to the initial state, and the gun system rotates around the X P The axis rotates in the negative direction by an angle θ to the reference system, and the coordinate transformation matrix T 3 for:

[0104]

[0105] Based on the above coordinate system rotation, the vector converted from the camera system to the reference system for:

[0106]

[0107] The vector of the gun in the reference frame in the initial state In the reference frame Vector, in the reference frame The vector and the transformation from the camera frame to the reference frame Substitute the vector into the vector when the gun is raised get:

[0108]

[0109] The coordinate transformation matrix T 1 , coordinate transformation matrix T 2 and the coordinate transformation matrix T 3 Substituting into the above formula, we get:

[0110]

[0111] After expanding the matrix, we get:

[0112] 0 = -sinγsinθ 1 L 2 +X

[0113] L+L 1 =Lcosθ+(cosθcosθ 1 +sinθcosγsinθ 1 )L 2

[0114] 0 = Lsinθ + (sinθ cosθ 1 -cosθcosγsinθ 1 )L 2

[0115] Then we get:

[0116]

[0117]

[0118]

[0119] Since the elevation angle β and azimuth angle α of the barrel axis in the initial state have been obtained, that is, the elevation angle and azimuth angle of the Y axis of the reference system in the geographic system. After the barrel is raised, the vector of the barrel in the reference system It has been obtained, and we only need to obtain the rotation matrix from the reference system to the geographic system, using The vector of the gun barrel in the geographic system can be obtained, where is the vector of the gun barrel in the geographic system, and T is the rotation matrix from the reference system to the geographic system. The T matrix is ​​obtained by the following steps:

[0120] The rotation matrix from the reference system to the geographic system is the T matrix. The reference system first rotates around its Y axis in the positive direction by an angle γ, and the resulting rotation matrix is:

[0121]

[0122] The reference system is then rotated around the negative X-axis by an angle of β, and the resulting rotation matrix is:

[0123]

[0124] The reference system finally rotates positively around the Z axis by an angle α, and the resulting rotation matrix is:

[0125]

[0126] Then we get the T matrix:

[0127]

[0128] After the barrel is raised, the vector of the barrel in the geographic system is The vector in the reference frame Multiplying it with the T matrix gives the barrel's vector in the geographic system:

[0129]

[0130] The elevation angle β of the gun barrel in the geographic system is obtained by solving t :

[0131]

[0132] The azimuth angle α of the gun barrel in the geographic system t

[0133]

[0134] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation manner. Any other implementation manners derived by those skilled in the art based on the technical solution of the present invention also fall within the scope of protection of the present invention.

Claims

1. A high-precision gun adjustment detection method based on optical differential GPS combination, characterized in that: The following steps are involved: Step 1: Construct a coordinate system; Step 2: When the gun is in the initial state, record the measurement value of the initial state; Step 3, when the gun is in the raised state, record the measured value of the raised state; Step 4, calculating the attitude of the gun barrel according to the coordinate system of step 1 and the measurement values ​​recorded in steps 2 and 3; The vector of the gun in the reference frame at the initial state for: Vector of the gun in the elevated state for: Vector in the reference frame for: Vector in the camera frame for: The crosshair coordinate system is the same as the reference system. The coordinate vector of the crosshair is for: Vector in the reference frame for: As the gun is raised, the turntable drives the camera down, and the turntable rotates at an angle of θ1. The camera rotates around its X M The axis rotates forward θ1 to the turntable system, and the coordinate transformation matrix T1 is: Since the gun has a roll angle, the horizontal axis of the turntable is horizontal in the initial state. P X of axis and rotary table system T The axis has an angle γ, and the turntable rotates around its Y T The axis rotates in the negative direction by an angle γ to the artillery system, and the coordinate transformation matrix T2 is: In the raised state, the gun barrel rotates around the horizontal axis of the gun by an angle of θ compared to the initial state, and the gun system rotates around the X P The axis rotates in the negative direction by an angle θ to the reference system, and the coordinate transformation matrix T3 is: Vector transforming from the camera frame to the reference frame for: The vector of the gun in the reference frame in the initial state In the reference frame Vector, in the reference frame Vector, transform from camera frame to reference frame Substitute the vector, coordinate transformation matrix T1, coordinate transformation matrix T2 and coordinate transformation matrix T3 into the vector in the state of artillery elevation get: After expanding the matrix, we get: 0=-sinγsinθ1L2+X L+L1=Lcosθ+(cosθcosθ1+sinθcosγsinθ1)L2 0=Lsinθ+(sinθcosθ1-cosθcosγsinθ1)L2 Then we get: The rotation matrix from the reference system to the geographic system is the T matrix. The reference system first rotates around its Y axis in the positive direction by an angle γ, and the resulting rotation matrix is: The reference system is then rotated around the negative X-axis by an angle of β, and the resulting rotation matrix is: The reference system finally rotates positively around the Z axis by an angle α, and the resulting rotation matrix is: Then we get the T matrix: After the barrel is raised, the vector of the barrel in the geographic system is The vector in the reference frame Multiplying it with the T matrix gives the barrel's vector in the geographic system: The elevation angle β of the gun barrel in the geographic system is obtained by solving t : The azimuth angle α of the gun barrel in the geographic system t 2. The high-precision gun adjustment detection method based on optical differential GPS combination according to claim 1 is characterized in that: The coordinate systems of step 1 include: a reference system, a gun system, a turntable system, a camera system and a geographic system; Reference system O-XYZ: The origin is O at the gun rotation center, the Y axis is the line from the gun rotation center to the crosshair center in the initial state, and points to the crosshair center, the X axis is the gun horizontal axis pointing to the right, and the Z axis points to the zenith, forming a right-handed system; Artillery OX P Y P Z P : The origin is O at the center of the gun's rotation, Y P The axis is the barrel axis, X P The Z axis is the horizontal axis of the gun pointing to the right. P The axis points to the zenith, forming a right-handed system; Rotary table series O T -X T Y T Z T :The origin is O at the center of the turntable T , Y T The axis is the zero line of the turntable, the XT axis is the horizontal axis of the turntable pointing to the right, and the ZT axis points to the zenith, forming a right-handed system; The camera is installed at the center of the single-axis turntable. M -X M Y M Z M : The origin is at the center of the camera. M , Y M The axis is the camera optical axis, X M The axis is the horizontal axis of the turntable pointing to the right, Z M The axis points to the zenith, forming a right-handed system; Geographical system Ot-XtYtZt: Northeast celestial coordinate system.

3. The high-precision gun adjustment detection method based on optical differential GPS combination according to claim 1 is characterized in that: In step 2, the gun is initially in a horizontal position with a roll angle of γ; the gun is aimed at the crosshairs directly in front; the horizontal axis of the platform is adjusted to a horizontal level through a level bubble; and the platform rotation angle output is 0; The measured values ​​of the gun's initial state are: the distance L from the gun's rotation center to the turntable center; the distance L1 from the turntable center to the crosshair center measured by the laser ranging module; the distance l1 from the electrical phase center of the first satellite antenna to the turntable center; the distance l2 from the electrical phase center of the second satellite antenna to the crosshair center; the satellite orientation instrument outputs the elevation angle β' and the azimuth angle α of the geographic coordinate system, the elevation angle 4. The high-precision gun adjustment detection method based on optical differential GPS combination according to claim 1 is characterized in that: Install one satellite receiving antenna on the top of the gun barrel and another satellite antenna on the top of the crosshairs.

5. The high-precision gun adjustment detection method based on optical differential GPS combination according to claim 1 is characterized in that: In step 3, the gun is in an elevated state: the gun rotation center is O, the turntable center is A in the initial state, the crosshair center is B, the turntable center in the gun elevated state is A', and the point where the camera optical axis is aimed at the crosshairs in the gun elevated state is B'; The measured values ​​of the gun in the elevated state are: the rotation angle θ1 of the turntable; the distance L2 from the center of the turntable to the center of the crosshairs; the distance X between the aiming point of the camera optical axis aiming at the crosshairs and the crosshairs.

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