A method for calibrating the pitch horizontal zero position of a sighting device
By using a method of synchronous measurement and real-time adjustment with dual tilt sensors, the problem of vibration influence during the pitch and horizontal zero-position calibration of the observation and aiming device was solved, achieving higher calibration accuracy and efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA ORDNANCE EQUIP GRP AUTOMATION RES INST CO LTD
- Filing Date
- 2022-10-25
- Publication Date
- 2026-07-07
AI Technical Summary
In the existing technology, the impact of vibration on the calibration accuracy during the pitch and horizontal zero-position calibration of the observation and aiming device cannot be effectively avoided, resulting in low pitch and horizontal zero-position calibration accuracy.
A dual tilt sensor is used to simultaneously measure the reference plane and pitch tilt angle. The tilt angle acquisition and display module monitors and adjusts the measurement in real time to ensure the consistency of the reference plane state, eliminate vibration interference, and improve calibration accuracy.
This effectively avoids the impact of vibration on the pitch and horizontal zero-position calibration, improving the accuracy and operational efficiency of the pitch and horizontal zero-position calibration of the observation and aiming device.
Smart Images
Figure CN115655223B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of photoelectric measurement technology, and in particular to a method for calibrating the pitch and horizontal zero position of an observation and aiming device that can avoid the influence of vibration on calibration accuracy during the pitch and horizontal zero position calibration process and improve the pitch and horizontal zero position accuracy of the observation and aiming device. Background Technology
[0002] As a high-precision device for observing, aiming, and measuring distances and angles of targets, observation and aiming devices are widely used in both civilian and military fields. With the increasing demands for target observation accuracy, the requirements for the two main factors affecting the observation accuracy of observation and aiming devices are also becoming increasingly stringent.
[0003] Currently, the accuracy of angle sensors can reach the microsecond level. To reduce errors caused by transmission, a sleeve-shaft mounting method is generally adopted in observation and aiming devices. That is, the stator of the angle sensor is fixed to the stator of the observation and aiming device, and the rotor of the angle sensor is fixed to the motion axis system of the observation and aiming device, thereby achieving accurate angle measurement of the motion axis system of the observation and aiming device. The motion axis system of the observation and aiming device is divided into an azimuth axis system and a pitch axis system. The azimuth axis system is horizontal, and vibration has little impact on its zero-point calibration. The pitch axis system moves along the direction of gravity. During calibration, vibration will affect its zero-point calibration accuracy. As can be seen from the mounting method of the angle sensor of the observation and aiming device, the pitch horizontal zero-point calibration accuracy directly determines the pitch angle measurement accuracy of the observation and aiming device.
[0004] In the existing technology, the general method used in the zero-position calibration of the pitch axis system of the observation and aiming device is as follows: on the calibration workbench, the tilt angle of the reference plane of the observation and aiming device is measured with a tilt sensor, and the tilt angle of the pitch frame is measured with a tilt sensor using the reference plane as a reference plane, and the tilt angle of the pitch frame is adjusted until the tilt angle is horizontal.
[0005] This method is an asynchronous measurement. First, a tilt sensor is used to measure the reference plane, and then another tilt sensor is used to measure the pitch angle. When measuring the pitch angle, it is assumed that the reference plane remains unchanged. However, in actual measurement, human factors may cause the reference plane to change, and measurement errors caused by vibration will directly affect the accuracy of the pitch horizontal zero-point calibration.
[0006] Therefore, finding a method for calibrating the pitch and horizontal zero position of an observation and aiming device that can avoid the influence of vibration and improve the accuracy of the pitch and horizontal zero position calibration is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0007] In view of the above problems, the present invention provides a method for calibrating the pitch and horizontal zero position of an observation and aiming device to overcome or at least partially solve the above problems. It addresses the issues of ensuring the consistency of the reference plane state, avoiding the influence of vibration on calibration accuracy, and improving the efficiency of the pitch and horizontal zero position calibration operation. This method utilizes dual tilt sensors to simultaneously measure the reference plane and pitch tilt angle, thus avoiding the influence of vibration and improving the accuracy of the pitch and horizontal zero position calibration.
[0008] This invention provides the following solution:
[0009] A method for calibrating the elevation and horizontal zero position of an observation and aiming device includes:
[0010] Align the reference tilt sensor and the observation tilt sensor with zero on the observation mounting reference surface; both the reference tilt sensor and the observation tilt sensor are connected to the same tilt acquisition and display module;
[0011] Keep the reference tilt sensor in its original position and place the observation and aiming elevation tilt sensor at the zero calibration point inside the observation and aiming elevation frame of the observation and aiming device.
[0012] The tilt angle acquisition and display module synchronously acquires the first tilt angle measured by the reference tilt angle sensor and the second tilt angle measured by the observation and aiming pitch angle sensor;
[0013] The difference between the first tilt angle and the second tilt angle is calculated.
[0014] Adjust the tilt frame of the observation and aiming device according to the tilt angle difference until the horizontal zero-position accuracy requirement of the observation and aiming device is met.
[0015] Preferably, the step of aligning the reference tilt sensor and the observation tilt sensor to zero on the observation mounting reference surface includes:
[0016] The reference tilt sensor and the observation pitch tilt sensor are mounted on the same measurement reference plane;
[0017] The current position obtained through the tilt angle acquisition and display module is used as the reference surface for the observation and aiming installation.
[0018] Preferably, the measurement reference surface includes the upper surface of the operating table, which is used to support the observation and aiming device.
[0019] Preferably, the angle measurement directions of the reference tilt sensor and the observation tilt sensor are the same.
[0020] Preferably: adjusting the elevation frame of the observation and aiming device according to the tilt angle difference until the elevation zero-position accuracy requirement of the observation and aiming device is met includes:
[0021] Adjust the tilt angle difference to be within the zero-position accuracy range, record the target angle value of the observation and aiming pitch angle sensor acquired by the tilt angle acquisition and display module, and set the target angle value as the pitch zero-position reference point.
[0022] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:
[0023] This application provides a method for zero-position calibration of the elevation and horizontal position of an observation and aiming device. A reference tilt sensor can monitor the tilt angle of a reference surface in real time, ensuring that the state of the reference surface is the latest state at the time of calibration. The angles of the reference tilt sensor and the observation and aiming elevation tilt sensor are measured in real time and synchronously. If vibration causes the reference surface to tilt, both sensors can simultaneously measure the tilt angle caused by the vibration interference. The difference between the tilt angles of the reference tilt sensor and the observation and aiming elevation tilt sensor can filter out vibration tilt angle interference, effectively overcoming the impact of vibration on calibration accuracy. The tilt angle data can also be acquired, displayed, and controlled through a tilt angle acquisition, display, and control module, making operation convenient.
[0024] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description
[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.
[0026] Figure 1 This is a flowchart of a method for calibrating the elevation and horizontal zero position of an observation and aiming device according to an embodiment of the present invention;
[0027] Figure 2 This is a schematic diagram of the components for synchronous calibration of the elevation zero position of the observation and aiming device provided in the embodiment of the present invention.
[0028] In the diagram: 1-Operating console, 2-Observation and aiming device, 3-Observation and aiming device pitch frame, 4-Reference tilt sensor, 5-Observation and aiming pitch and tilt sensor, 6-Tilting acquisition and display module. Detailed Implementation
[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.
[0030] See Figure 1 This invention provides a method for calibrating the elevation and horizontal zero position of an observation and aiming device, as shown in the embodiments of the present invention. Figure 1 As shown, the method may include:
[0031] The reference tilt sensor 4 and the observation tilt sensor 5 are aligned to zero on the observation mounting reference surface; the reference tilt sensor 4 and the observation tilt sensor 5 are both connected to the same tilt acquisition and display module 6; specifically, the reference tilt sensor 4 and the observation tilt sensor 5 are set on the same measurement reference surface.
[0032] The current position obtained by the tilt angle acquisition and display module 6 is used as the observation and aiming installation reference surface.
[0033] Furthermore, the measurement reference surface includes the upper surface of the operating table 1, which is used to support the observation and aiming device 2. The angle measurement directions of the reference tilt sensor 4 and the observation and aiming pitch sensor 5 are consistent.
[0034] The tilt angle acquisition and display module 6 synchronously acquires the first tilt angle measured by the reference tilt angle sensor 4 and the second tilt angle measured by the observation and aiming pitch angle sensor 5;
[0035] The tilt angle acquisition and display module synchronously acquires the first tilt angle measured by the reference tilt angle sensor and the second tilt angle measured by the observation and aiming pitch angle sensor;
[0036] The difference between the first tilt angle and the second tilt angle is calculated.
[0037] Adjust the tilt frame 3 of the observation and aiming device according to the tilt angle difference until the horizontal zero-position accuracy index requirement of the observation and aiming device is met. Specifically, adjust the tilt angle difference within the zero-position accuracy range, record the target angle value of the observation and aiming tilt angle sensor acquired by the tilt angle acquisition and display module 6, and set the target angle value as the pitch zero-position reference point.
[0038] To improve the angle measurement accuracy of the observation and aiming device, precise calibration of the elevation and horizontal zero position is required during assembly and adjustment. This embodiment employs two tilt sensors. Before measurement, both tilt sensors are placed on the reference surface of the observation and aiming device for zeroing and alignment. During measurement, one tilt sensor is placed on the reference surface, and the other is placed in the elevation frame. The elevation frame is adjusted according to the deviation of the measured angles from the two tilt sensors until the elevation and horizontal angles are within the designed error range. Simultaneous measurement using the reference surface tilt sensor and the elevation tilt sensor effectively avoids the impact of vibration on the elevation and horizontal zero position accuracy during the calibration process.
[0039] The elevation and horizontal zero-position calibration method for the aiming and viewing device 2 provided in this application embodiment can be used to zero-align the reference tilt sensor 4 and the aiming and viewing elevation tilt sensor 5 on the same aiming and viewing mounting reference surface in the tilt acquisition and display module 6, and then ensure that the position of the reference tilt sensor 4 remains unchanged, so that the zero-position calibration of the reference tilt sensor 4 will not be destroyed. Then, the aiming and viewing elevation tilt sensor 5 is moved into the aiming and viewing elevation frame of the aiming and viewing device 2; the first tilt angle (real-time tilt angle of the mounting reference surface) and the second tilt angle (real-time tilt angle of the elevation frame) of the reference tilt sensor 4 and the aiming and viewing elevation tilt sensor 5 can be acquired synchronously through the provided tilt acquisition and display module 6. Since the tilt angle acquired when the aiming and viewing elevation tilt sensor 5 is not moved on the aiming and viewing mounting reference surface is consistent with the first tilt angle, the first tilt angle can be used to replace the traditional reference surface for elevation and horizontal zero-position calibration.
[0040] It is understandable that the traditional calibration method assumes that the tilt angle of the observation and aiming mounting reference surface does not change. However, the vibration generated during the measurement process will cause the tilt angle of the observation and aiming mounting reference surface to change, and the measurement error will be directly introduced into the accuracy of the pitch and horizontal zero-position calibration.
[0041] The first tilt angle obtained in this embodiment can be understood as the actual tilt angle of the observation and aiming mounting reference surface after changes due to factors such as vibration. Since the reference tilt angle sensor 4 and the observation and aiming pitch tilt angle sensor 5 are zeroed and aligned on the observation and aiming mounting reference surface, and the tilt angle acquisition and display module 6 synchronously acquires the first tilt angle and the second tilt angle, the first tilt angle and the second tilt angle contain the same error caused by vibration. When calculating the difference between the first tilt angle and the second tilt angle, the error caused by vibration will be eliminated, thereby avoiding the influence of vibration and improving the pitch and horizontal zero-position calibration accuracy of the observation and aiming device 2.
[0042] The following describes in detail the elevation and horizontal zero-position calibration method and principle of the observation and aiming device 2 provided in the embodiments of this application through one implementation method.
[0043] First, the elevation zero-position synchronization calibration of the observation and aiming device 2 is performed, such as... Figure 2 As shown: The observation and aiming device 2 is placed and fixed on the operating table 1;
[0044] Tilt sensor reference alignment: Place the observation and aiming pitch tilt sensor 5 and the reference tilt sensor 4 on the operating table 1, and connect the reference tilt sensor 4 and the observation and aiming pitch tilt sensor 5 to the tilt acquisition and display control module; power on; place the reference tilt sensor 4 and the observation and aiming pitch tilt sensor 5 at the zero calibration point of the mounting reference surface of the observation and aiming device 2, and ensure that the angle measurement directions of the reference tilt sensor 4 and the observation and aiming pitch tilt sensor 5 are consistent.
[0045] After the tilt angle acquisition and display module 6 completes its power-on self-test, it sets the current positions of the two tilt angle sensors to a common reference plane. The tilt angle acquisition and display control module sets the reference tilt angle sensor 4 and the observation tilt angle sensor 5 to "zero". The tilt angle display module then displays the tilt angles of the reference tilt angle sensor 4 and the observation tilt angle sensor 5 stably at zero.
[0046] Then, keeping the reference tilt sensor 4 stationary, the observation and aiming tilt sensor 5 is placed within the tilt frame of the observation and aiming device 2. The tilt acquisition and display module 6 then acquires and displays the angle (θ) of the first tilt angle measured by the reference tilt sensor 4 in real time. o0 +ε) and the angle of the second tilt angle (θ) measured by the observation and aiming elevation tilt angle sensor 5. o1 +ε), calculate the deviation value Δθ between the two, then:
[0047] Δθ=θ o0 -θ o1
[0048] Adjust the elevation frame 3 of the observation and aiming device to Δθ to satisfy:
[0049] -e≤Δθ≤+e
[0050] In the formula, e represents the pitch zero-position accuracy requirement of the observation and aiming device 2.
[0051] During the calibration measurement process, the disturbance angle ε caused by vibration is simultaneously measured by the reference tilt sensor 4 and the observation tilt sensor 5. The angles measured by the reference tilt sensor 4 and the observation tilt sensor 5 are as follows:
[0052]
[0053] The angle deviation Δθ′ between the two tilt sensors is:
[0054] Δθ′=θ o ′0-θ o ′1=(θ o0 +ε)-(θ o1 +ε)=θo0 -θ o1
[0055] Based on the expressions for Δθ and Δθ′, we can obtain:
[0056] Δθ′=Δθ
[0057] In the method provided in this application embodiment, the reference tilt sensor 4 and the observation and aiming pitch tilt sensor 5 are measured synchronously. The influence of vibration disturbance on the reference is measured by the two sensors at the same time. When calculating the deviation, the disturbance angle e caused by vibration is eliminated, so it does not affect the calibration result. This overcomes the vibration interference problem in the asynchronous calibration process of a single tilt sensor and improves the pitch and horizontal zero position accuracy of the observation and aiming device 2.
[0058] Furthermore, the method for calibrating the pitch and horizontal zero position of the observation and aiming device provided in this application embodiment can be applied to horizontal zero position systems that require calibration of the pitch (or elevation) rotation axis system, and is not limited to observation and aiming device systems.
[0059] In summary, the elevation and horizontal zero-position calibration method for the observation and aiming device provided in this application allows the reference tilt sensor to monitor the tilt angle of the reference surface in real time, ensuring that the state of the reference surface is the latest state at the time of calibration. The reference tilt sensor angle and the observation and aiming elevation tilt sensor measure in real time and synchronously. If vibration causes the reference surface to tilt, both sensors can simultaneously measure the tilt angle caused by the vibration interference. The difference in tilt angle between the reference tilt sensor angle and the observation and aiming elevation tilt sensor angles can filter out vibration tilt angle interference, effectively overcoming the impact of vibration on calibration accuracy. Furthermore, the tilt angle data can be acquired, displayed, and controlled via a tilt angle acquisition, display, and control module, making operation convenient.
[0060] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0061] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.
[0062] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.
[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.
Claims
1. A method for calibrating the elevation and horizontal zero position of an observation and aiming device, characterized in that, The method includes: Align the reference tilt sensor and the observation tilt sensor with zero on the observation mounting reference surface; both the reference tilt sensor and the observation tilt sensor are connected to the same tilt acquisition and display module; Keep the reference tilt sensor in its original position and place the observation and aiming elevation tilt sensor at the zero calibration point inside the observation and aiming elevation frame of the observation and aiming device. The tilt angle acquisition and display module synchronously acquires the first tilt angle measured by the reference tilt angle sensor and the second tilt angle measured by the observation and aiming pitch angle sensor; The difference between the first tilt angle and the second tilt angle is calculated. Adjust the tilt frame of the observation and aiming device according to the tilt angle difference until the horizontal zero-position accuracy requirement of the observation and aiming device is met.
2. The method for calibrating the elevation and horizontal zero position of the observation and aiming device according to claim 1, characterized in that, The step of aligning the reference tilt sensor and the observation pitch tilt sensor to zero on the observation mounting reference surface includes: The reference tilt sensor and the observation pitch tilt sensor are mounted on the same measurement reference plane; The current position obtained through the tilt angle acquisition and display module is used as the reference surface for the observation and aiming installation.
3. The method for calibrating the elevation and horizontal zero position of the observation and aiming device according to claim 2, characterized in that, The measurement reference surface includes the upper surface of the operating table, which is used to support the observation and aiming device.
4. The method for calibrating the elevation and horizontal zero position of the observation and aiming device according to claim 2, characterized in that, The reference tilt sensor and the observation tilt sensor have the same angular measurement direction.
5. The method for calibrating the elevation and horizontal zero position of the observation and aiming device according to claim 1, characterized in that, The step of adjusting the elevation frame of the observation and aiming device according to the tilt angle difference until the horizontal zero-position accuracy index of the observation and aiming device is met includes: Adjust the tilt angle difference to be within the zero-position accuracy range, record the target angle value of the observation and aiming pitch angle sensor acquired by the tilt angle acquisition and display module, and set the target angle value as the pitch zero-position reference point.