A method for calibrating the axis and inclination of an electro-optical aiming gun

Abstract

The present invention relates to a method for calibrating the photoelectric aiming axis and inclination of a cannon, and belongs to the technical field of calibration of a launch device. The method solves the problem that the existing calibration method has errors and cannot measure the pitch angle error of a launch tube. A method for calibrating the photoelectric aiming axis and inclination of a cannon comprises the following steps: Step 1: installing a calibration device and collecting required data; Step 2: calculating the pitch angle deviation and azimuth angle deviation between the optical axis of a photoelectric detection device of the launch device and the launch tube of the launch device; Step 3: compensating for the pitch angle deviation and azimuth angle deviation. The calibration method of the present invention calculates the error between the axis of the launch tube and the optical axis of the photoelectric detection device by using a total station to measure the coordinates of four points, namely, the optical center of the calibration mirror objective lens, the calibration mirror aiming point, the optical center of the photoelectric camera, and the photoelectric aiming point, thereby realizing the calibration of the pitch angle and azimuth angle of the launch tube.

Description

Technical Field

[0001] The invention relates to the technical field of launch device calibration, and in particular to a method for calibrating a gun electro-optical aiming axis and inclination. Background Art

[0002] In order to achieve accurate aiming of the projectile (for example, fire extinguishing bomb) launching device, some existing launching devices are equipped with photoelectric detection devices and angle measurement sensors. However, the axis of the launching tube of the launching device and the optical axis of the photoelectric detection device are not completely parallel. In addition, the actual inclination angle of the launching tube and the measured value of the angle measurement sensor may also have some errors due to installation or other factors. It is necessary to calibrate the optical axis of the photoelectric detection device and the angle measurement error of the angle measurement sensor in order to facilitate the launching device to achieve accurate launching.

[0003] Existing calibration methods generally use photoelectric detection devices to aim the launch device, without considering the error between the photoelectric detection device and the axis of the launch tube itself, resulting in errors in the calibration results and the inability to measure the elevation angle error of the launch tube. Summary of the invention

[0004] In view of the above analysis, an embodiment of the present invention aims to provide a method for calibrating the electro-optical aiming axis and inclination angle of a gun, so as to solve the problem that the existing calibration method has errors and cannot measure the elevation angle error of the launch tube.

[0005] The purpose of the present invention is mainly achieved through the following technical solutions:

[0006] A method for calibrating a gun electro-optical aiming axis and inclination angle comprises the following steps:

[0007] Step 1: Install the calibration device and collect the required data;

[0008] Step 2: Calculate the elevation angle deviation and azimuth angle deviation between the optical axis of the photoelectric detection device of the launch device and the launch tube of the launch device;

[0009] Step 3: Compensate for the pitch angle deviation and azimuth angle deviation.

[0010] Furthermore, the step 1 comprises the following steps:

[0011] Step 1.1: Park the launcher in front of the building, with the horizontal distance between the launcher and the building not less than 30m;

[0012] Step 1.2: Install the photoelectric aiming axis and inclination calibration device of the launcher;

[0013] Step 1.3: Turn the transmitting device so that the photoelectric detection device is aimed at the mark point A on the building.

[0014] Furthermore, in step 1.2, the calibration device includes a calibration tube, a target scope and a total station, the calibration tube is installed in the launch tube and provides a mounting interface for the target scope, and the total station is fixed between the launch device and the building.

[0015] Furthermore, the calibration tube includes a sleeve, a launch tube mounting portion and a calibration scope mounting hole, the launch tube mounting portion is concentrically arranged with the sleeve, and the calibration scope mounting hole is a threaded hole, which cooperates with the mounting axis of the calibration scope.

[0016] Furthermore, in step 1.2, the calibration tube is first inserted into the launch tube, and then the calibration scope is installed in the calibration scope installation hole, and finally the total station is fixed between the launch device and the building.

[0017] Furthermore, the step 1 further comprises:

[0018] Step 1.4: Use the total station to measure the coordinates A1 (x1, y1, z1) of the center point of the optical axis of the photoelectric detection device and the coordinates A2 (x2, y2, z2) of the intersection of the center point of the optical axis of the photoelectric detection device and the building;

[0019] Step 1.5: Use the total station to measure the coordinates B1 (x3, y3, z3) of the optical center of the calibration mirror objective lens and the coordinates B2 (x4, y4, z4) of the building landmark point B seen by the center of the calibration mirror eyepiece.

[0020] Furthermore, the step 1 further comprises:

[0021] Step 1.6: According to the measured coordinates, use the total station to calculate the horizontal distance D1 and the straight-line distance L1 between the optical axis center point of the photoelectric detection device and the building landmark point A;

[0022] Step 1.7: According to the measured coordinates, use the total station to calculate the horizontal distance D2 and the straight-line distance L2 between the optical center of the calibration lens objective and the building landmark point B.

[0023] Furthermore, the step 2 comprises the following steps:

[0024] Step 2.1: Use the following formula to calculate the actual elevation angle α1 of the optical axis of the photoelectric detection device and the actual elevation angle α2 of the launch tube:

[0025] α1=arccos(D1 / L1)

[0026] α2=arccos(D2 / L2).

[0027] Step 2.2: Use the following formula to calculate the deviation between the optical axis of the photoelectric detection device and the elevation angle of the launch tube:

[0028] Δα=α2-α1

[0029] Furthermore, the step 2 further comprises the following steps:

[0030] Step 2.3: Use the following formula to calculate the azimuth angle deviation between the optical axis of the photoelectric detection device and the launch tube:

[0031] Δβ=arctan((y2-y1) / (x2-x1))-arctan((y4-y3) / (x4-x3)).

[0032] Furthermore, the step 3 is specifically as follows: using the obtained pitch angle deviation and azimuth angle deviation values, the error value between the optical axis of the photoelectric detection equipment and the axis of the launch tube is obtained, and the launch device is guided to launch accordingly.

[0033] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0034] (1) The calibration method of the present invention uses a total station to measure the coordinates of four points: the optical center of the calibration mirror objective lens, the calibration mirror aiming point, the optical center of the photoelectric camera, and the photoelectric aiming point, and calculates the error between the axis of the launch tube and the optical axis of the photoelectric detection device, thereby realizing the calibration of the pitch angle and azimuth angle of the launch tube.

[0035] (2) The calibration method of the present invention obtains the pitch angle value of the launch tube by using a quadrant placed on the reference plane of the calibration tube, and compares it with the angle value of the angle measurement sensor installed on the launch device to obtain the error value of the angle measurement sensor, thereby realizing the calibration of the pitch angle deviation between the angle measurement sensor and the launch tube.

[0036] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0038] Figure 1 It is a schematic diagram of a method for photoelectric aiming and inclination calibration of a launch device according to a specific embodiment;

[0039] Figure 2 A schematic diagram of the structure of the photoelectric aiming and inclination calibration device of the launch device in a specific embodiment;

[0040] Figure 3 It is a structural schematic diagram of a calibration cylinder of a specific embodiment;

[0041] Figure 4 is a cross-sectional view of a calibration cylinder of a specific embodiment;

[0042] Figure 5 for Figure 4 AA section view in;

[0043] Figure 6 for Figure 4 AA section view when the middle launch tube mounting part contacts the leftmost end of the prism section;

[0044] Figure 7 for Figure 4 BB cross-section view of the middle sleeve;

[0045] Figure 8 Schematic diagram of the connection between the sub-parts and the sliding rod of a preferred embodiment (only one sub-part is shown).

[0046] Reference numerals:

[0047] 100-calibration tube; 200-target scope; 300-total station; 400-quadrant;

[0048] 1- sleeve; 11- guide groove; 2- launch tube mounting part; 21- sub-part; 211- first section; 212- second section; 213- third section; 22- elastic connector; 23- rigid connector; 24- slide rail; 3- quadrant mounting part; 4- target mirror mounting hole; 5- sliding rod; 51- horizontal section; 52- prism section; 53- slide groove; 6- nut. DETAILED DESCRIPTION

[0049] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0050] For the convenience of description, in this embodiment, it is defined Figure 3 The right side is "front" and the left side is "rear"; the center direction of the sleeve is "inside" and the direction of the outer side surface is "outside".

[0051] A specific embodiment of the present invention, as Figure 1 As shown, a method for calibrating the axis and inclination angle of an artillery electro-optical aiming is disclosed.

[0052] The cannon of the present invention is a fire extinguishing cannon, which is used to launch fire extinguishing bombs, hereinafter referred to as "launching device".

[0053] Specifically, the calibration method includes the following steps:

[0054] Step 1: Install the calibration device and collect the required data;

[0055] Step 2: Calculate the elevation angle deviation and azimuth angle deviation between the optical axis of the photoelectric detection device and the launch tube;

[0056] Step 3: Compensate for the pitch angle deviation and the azimuth angle deviation;

[0057] Step 4: Calibration of the angle measurement sensor and the launch tube pitch angle deviation.

[0058] The calibration method of this embodiment can calibrate the axis of the launch tube, the optical axis of the photoelectric detection equipment, and the angle error of the angle measurement sensor, thereby improving the aiming accuracy of the launch device.

[0059] Specifically, step 1 includes the following steps:

[0060] Step 1.1: Park the launcher in front of the building. The horizontal distance between the launcher and the building should be no less than 30m.

[0061] Step 1.2: Install the photoelectric aiming axis and inclination calibration device of the launch device.

[0062] In this embodiment, Figure 2 As shown, the calibration device includes a calibration tube 100, a calibration target mirror 200 and a total station 300. The calibration tube 100 is installed in the transmitting tube and provides a mounting interface for the calibration target mirror 200. The total station is used to measure the coordinates of the center point of the optical axis of the photoelectric detection device of the transmitting device and the optical center of the objective lens of the calibration target mirror 200, as well as the coordinates of the intersection of the optical axis center of the photoelectric detection device and the target and the coordinates of the focus of the objective lens center and the target.

[0063] In this embodiment, the calibration tube is installed in the launching tube to ensure the concentricity of the calibration tube and the launching tube. The target calibration mirror is directly installed on the calibration tube. The target calibration mirror can be used to calibrate the angular error between the axis of the launching tube and the optical axis of the photoelectric detection equipment, thereby improving the aiming accuracy of the launching device.

[0064] Specifically, Figure 3 and Figure 4 As shown, the calibration tube 100 includes a sleeve 1, a launch tube mounting portion 2 and a calibration scope mounting hole 4. The launch tube mounting portion 2 is concentrically arranged with the sleeve 1, and the calibration scope mounting hole 4 is a threaded hole, which cooperates with the mounting axis of the calibration scope 200.

[0065] Preferably, there are two launch tube mounting parts 2, the two launch tube mounting parts 2 have the same structure and are both concentrically arranged with the sleeve 1. After the calibration tube 100 is inserted into the launch tube, the outer surface of the launch tube mounting part 2 contacts the inner surface of the launch tube. Two launch tube mounting parts 2 with the same structure and concentricity are arranged to ensure the concentricity of the calibration tube 100 with the launch tube after installation.

[0066] In this embodiment, after the calibration tube 100 is inserted into the launching tube, the target scope 200 is installed in the target scope installation hole 4, the target position is observed through the eyepiece of the target scope 200, and the distance deviation is judged by the graticule on the objective lens of the target scope 200.

[0067] Finally, the total station 300 is fixed between the transmitting device and the building.

[0068] Step 1.3: Control the transmitting device to rotate to a certain angle so that the photoelectric detection device is aimed at a certain mark point A on the building;

[0069] Step 1.4: Use the total station 300 to measure the coordinates A1 (x1, y1, z1) of the center point of the optical axis of the photoelectric detection device and the coordinates A2 (x2, y2, z2) of the intersection of the center point of the optical axis of the photoelectric detection device and the building;

[0070] Step 1.5: Use the total station 300 to measure the coordinates B1 (x3, y3, z3) of the optical center of the objective lens of the calibration scope 200 and the coordinates B2 (x4, y4, z4) of the building landmark point B seen by the center of the eyepiece of the calibration scope 200;

[0071] Step 1.6: According to the measured coordinates, use the total station 300 to calculate the horizontal distance D1 and the straight-line distance L1 between the optical axis center point of the photoelectric detection device and the building landmark point A;

[0072] Step 1.7: Based on the measured coordinates, use the total station 300 to calculate the horizontal distance D2 and the straight-line distance L2 between the optical center of the objective lens of the calibration mirror 200 and the building landmark point B.

[0073] Further, step 2 includes the following steps:

[0074] Step 2.1: Use the following formula to calculate the actual elevation angle α1 of the optical axis of the photoelectric detection device and the actual elevation angle α2 of the launch tube:

[0075] α=arccos(D / L)

[0076] Where:

[0077] α——actual pitch angle, degrees;

[0078] D——horizontal distance, m;

[0079] L——straight-line distance, m;

[0080] α1=arccos(D1 / L1)

[0081] α2=arccos(D2 / L2).

[0082] Step 2.2: Use the following formula to calculate the deviation between the optical axis of the photoelectric detection device and the elevation angle of the launch tube:

[0083] Δα=α2-α1

[0084] Where:

[0085] Δα——the deviation between the optical axis of the photoelectric detection device and the elevation angle of the launch tube, degrees;

[0086] α2——actual elevation angle of the launch tube, degrees;

[0087] α1——The actual pitch angle of the optical axis of the photoelectric detection device, degrees.

[0088] Step 2.3: Use the following formula to calculate the azimuth angle deviation between the optical axis of the photoelectric detection device and the launch tube:

[0089] Δβ=arctan((y2-y1) / (x2-x1))-arctan((y4-y3) / (x4-x3)).

[0090] Furthermore, step 3 is specifically as follows: the obtained pitch angle deviation and azimuth angle deviation values ​​can be used to obtain the error value between the optical axis of the photoelectric detection equipment and the axis of the launch tube, which can guide the launch of the launch device and improve the launch accuracy.

[0091] Furthermore, the calibration device also includes a quadrant 400 , which is mounted on the calibration cylinder 100 .

[0092] Specifically, the calibration cylinder 100 further includes a quadrant mounting portion 3, which is disposed at the front end of the calibration cylinder 100, and one side of the quadrant mounting portion 3 is a horizontal surface.

[0093] In this embodiment, the target mirror mounting hole 4 is arranged at the front end of the quadrant mounting part 3 .

[0094] In step 4:

[0095] Place the quadrant 400 on the quadrant mounting portion 3 of the calibration tube 100, read the pitch angle of the launch tube through the quadrant 400 and use the angle measurement sensor to read the pitch angle of the launch tube, compare the difference between the two at different angles, and realize the error calibration between the pitch angle of the gun barrel and the angle measurement sensor.

[0096] The calibration method of this embodiment calculates the error between the axis of the launch tube and the optical axis of the photoelectric detection device by measuring the coordinates of the optical center of the target lens 200, the aiming point of the target lens 200, the optical center of the photoelectric camera and the photoelectric aiming point using the total station 300. The pitch angle value of the launch tube is obtained by placing the quadrant 400 on the reference plane of the calibration tube 100, and the angle is compared with the angle value of the angle measurement sensor installed on the launch device to obtain the error value of the angle measurement sensor, thereby realizing the calibration of the pitch angle and azimuth angle of the launch tube.

[0097] Furthermore, in order to make the calibration tube 100 adapt to launch tubes with different inner diameters, the outer diameter of the launch tube mounting portion 2 of this embodiment is adjustable.

[0098] Specifically, Figure 4 As shown, the calibration tube 100 also includes a sliding rod 5, which is arranged in the sleeve 1. The sleeve 1 is provided with a mounting hole. The launching tube mounting part 2 is installed in the mounting hole and contacts with the sliding rod 5.

[0099] In this embodiment, the quadrant mounting portion 3 and the sliding rod 5 are an integrated structure.

[0100] Furthermore, if Figure 4 As shown, the sleeve 1 is a hollow cylindrical tube with one end closed, and the mounting hole penetrates the tube wall of the sleeve 1 so that the launch tube mounting part 2 can extend into the sleeve 1 and contact the sliding rod 5.

[0101] like Figure 5 and Figure 6 As shown, the launch tube mounting portion 2 is composed of a plurality of (for example, four) sub-portions 21 of the same shape, and the plurality of sub-portions 21 are arranged in an array along the axis of the sleeve 1. The outer side surface of each sub-portion 21 is an arc surface, and the inner side surface is a plane, and the outer side surfaces of the plurality of sub-portions 21 are on the same cylindrical surface. The extension lines of the left side and the right side of the longitudinal section of each sub-portion 21 pass through the center of the circle where the outer side of the longitudinal section is located.

[0102] Correspondingly, each mounting hole includes a plurality of (for example, four) arc holes, the number of the arc holes is the same as the number of sub-parts 21, and each sub-part 21 is installed in an arc hole. After installation, the inner side surface of the sub-part 21 contacts the sliding rod 5.

[0103] Furthermore, if Figure 4 As shown, the sliding rod 5 includes a horizontal section 51 and a prism section 52. The cross section of the horizontal section 51 is a regular polygon (e.g., a square), and the number of sides of the regular polygon is the same as the number of subsections 21 of each launch tube mounting portion 2. The prism section 52 is a regular prism, and the number of side edges of the prism section 52 is the same as the number of subsections 21 of each launch tube mounting portion 2.

[0104] In this embodiment, the inner side surface of each sub-portion 21 contacts one side surface of the pyramid segment 52 . The inner side surface of the sub-portion 21 is an inclined surface, and the inclination of the inclined surface is the same as the inclination of the side surface of the pyramid segment 52 .

[0105] In this embodiment, when the inner side surface of the launch tube mounting portion 2 contacts the upper end (right end in the figure) of the prism segment 52, the outer diameter of the launch tube mounting portion 2 is the smallest, and the inner diameter of the applicable launch tube is the smallest. When a launch tube with a larger inner diameter is required, the sliding rod 5 is pulled rightward, so that the sub-portion 21 of the launch tube mounting portion 2 moves outward under the push of the prism segment 52, thereby increasing the outer diameter of the launch tube mounting portion 2.

[0106] Furthermore, if Figure 7 As shown, the sleeve 1 is provided with a guide groove 11 inside, and the size of the guide groove 11 is consistent with the lower bottom of the prism section 52 ( Figure 7 The left end of the sliding rod 5 matches the left end of the sliding rod 5, and the sliding rod 5 moves left and right along the guide groove 11 in the sleeve 1, thereby increasing the accuracy of the movement of the sliding rod 5.

[0107] Furthermore, if Figure 3 As shown, a threaded section is provided on one side of the mounting hole of the sleeve 1, and a nut 6 is provided on the threaded section. The outer diameter of the nut 6 is smaller than the outer diameter of the launch tube mounting part 2 when it is located at the rightmost side. When the sliding rod 5 is pulled to complete the adjustment of the outer diameter of the launch tube mounting part 2, the nut 6 is tightened to squeeze the launch tube mounting part 2, thereby fixing the launch tube mounting part 2.

[0108] Preferably, the threaded section is located at the front side of the mounting hole.

[0109] Furthermore, if Figure 5 and Figure 6 As shown, in order to increase the stability of the connection between each sub-section 21 of the launch tube mounting part 2, a connecting hole is provided in each sub-section 21, and the connecting hole includes a first section 211, a second section 212 and a third section 213 which are connected in sequence, and the inner diameters of the first section 211 and the third section 213 are the same and larger than the inner diameter of the second section 212, and the first section 211 and the third section 213 are symmetrically arranged relative to the second section 212.

[0110] In this embodiment, the first section 211 and the third section 213 of two adjacent sub-sections 21 are connected by an elastic connector 22 (e.g., a spring), and the outer diameter of the elastic connector 22 is greater than the inner diameter of the second section 212. The elastic connectors 22 in the first section 211 and the third section 213 of each sub-section 21 are connected by a rigid connector 23 (e.g., a steel wire), so that a plurality of elastic connectors 22 connecting two adjacent sub-sections 21 are connected to each other by the rigid connector 23.

[0111] Furthermore, when the launch tube mounting part 2 is at its maximum outer diameter, the elastic connector 22 is in a natural state. When the sub-part 21 of the launch tube mounting part 2 retracts inward, the elastic connector 22 is in a compressed state. The elastic restoring force of the elastic connector 22 causes the sub-part 21 to have a tendency to expand outward, thereby fitting closely to the inner diameter of the launch tube, thereby ensuring the tightness of the connection between the launch tube mounting part 2 and the launch tube.

[0112] When installing the calibration tube 100, first push the sliding rod 5 backward to make the outer diameter of the launch tube mounting part 2 as small as possible, then insert the calibration tube 100 into the launch tube so that the launch tube mounting part 2 at the rear end enters the launch tube, then pull the sliding rod 5 forward to increase the outer diameter of the launch tube mounting part 2 until the launch tube mounting part 2 fits tightly with the inner diameter of the launch tube, tighten the nut 6, and continue to push the calibration tube 100 into the launch tube until the launch tube mounting part 2 at the front end enters the launch tube.

[0113] As a preferred embodiment of the present invention, Figure 8 As shown, a slide rail 24 is provided on the inner side surface of the sub-part 21, and a slide groove 53 is provided on the prism section 52 of the sliding rod 5. The slide rail 24 can slide in the slide groove 53 to ensure the stability of the connection between the launch tube mounting part 2 and the sliding rod 5.

[0114] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for calibrating the axis and inclination of an artillery electro-optical aiming, characterized in that: The following steps are involved: Step 1: Install a calibration device and collect required data; the calibration device comprises a calibration tube (100), a calibration scope (200) and a total station (300); the calibration tube (100) is installed in a launch tube and provides a mounting interface for the calibration scope (200); and the total station (300) is fixed between the launch device and a building; The calibration tube (100) comprises a sleeve (1), a launch tube mounting portion (2) and a calibration mirror mounting hole (4); the calibration mirror mounting hole (4) is a threaded hole, which cooperates with the mounting shaft of the calibration mirror (200); There are two launch tube mounting parts (2), the two launch tube mounting parts (2) have the same structure and are both arranged concentrically with the sleeve (1); the outer surface of the launch tube mounting part (2) is in contact with the inner surface of the launch tube; The calibration cylinder (100) further comprises a sliding rod (5) arranged in the sleeve (1), and a mounting hole penetrates through the wall of the sleeve (1); The launch tube mounting portion (2) is composed of a plurality of sub-portions (21) of the same shape, wherein the plurality of sub-portions (21) are arranged in an array along the axis of the sleeve (1), and the outer side surface of each sub-portion (21) is an arc surface, and the inner side surface is a plane; The outer side surfaces of the plurality of sub-sections (21) are on the same cylindrical surface, and the extension lines of the left side and the right side of the longitudinal section of each sub-section (21) pass through the center of the circle where the outer side of the longitudinal section is located; Each of the mounting holes comprises a plurality of arc holes, the number of the arc holes is the same as the number of the sub-sections (21), and each of the sub-sections (21) is mounted in one arc hole; The sliding rod (5) comprises a horizontal section (51) and a prism section (52); the cross section of the horizontal section (51) is a regular polygon, the number of sides of the regular polygon is the same as the number of the subsections (21) of each launch tube mounting portion (2); the prism section (52) is a regular prism, the number of side edges of the prism section (52) is the same as the number of the subsections (21) of each launch tube mounting portion (2); The inner side surface of each sub-portion (21) contacts a side surface of the prism segment (52); the inner side surface of the sub-portion (21) is an inclined surface, and the inclination of the inclined surface is the same as the inclination of the side surface of the prism segment (52); The sleeve (1) is provided with a threaded section on one side of the mounting hole, and a nut (6) is provided on the threaded section, wherein the outer diameter of the nut (6) is smaller than the outer diameter of the launch tube mounting portion (2) when it is located at the rightmost side; Step 2: Calculate the elevation angle deviation and azimuth angle deviation between the optical axis of the photoelectric detection device of the launch device and the launch tube of the launch device; Step 3: Compensate for the pitch angle deviation and azimuth angle deviation.

2. The method for calibrating the artillery electro-optical aiming axis and inclination angle according to claim 1 is characterized in that: The step 1 comprises the following steps: Step 1.1: Park the launcher in front of the building, with the horizontal distance between the launcher and the building not less than 30m; Step 1.2: Install the photoelectric aiming axis and inclination calibration device of the launcher; Step 1.3: Turn the transmitting device so that the photoelectric detection device is aimed at the mark point A on the building.

3. The method for calibrating the artillery electro-optical aiming axis and inclination angle according to claim 1 is characterized in that: In step 1.2, the calibration tube (100) is first inserted into the launch tube, and then the calibration scope (200) is installed in the calibration scope installation hole (4), and finally the total station (300) is fixed between the launch device and the building.

4. The method for calibrating the artillery electro-optical aiming axis and inclination angle according to claim 1 is characterized in that: The step 1 also includes: Step 1.4: using the total station (300) to measure the coordinates A1 (x1, y1, z1) of the center point of the optical axis of the photoelectric detection device and the coordinates A2 (x2, y2, z2) of the intersection of the center point of the optical axis of the photoelectric detection device and the building; Step 1.5: Use the total station (300) to measure the coordinates B1 (x3, y3, z3) of the optical center of the objective lens of the calibration scope (200) and the coordinates B2 (x4, y4, z4) of the building landmark point B seen by the center of the eyepiece of the calibration scope (200).

5. The method for calibrating the artillery electro-optical aiming axis and inclination angle according to claim 4 is characterized in that: The step 1 also includes: Step 1.6: Calculate the horizontal distance D1 and the linear distance L1 between the optical axis center point of the photoelectric detection device and the building landmark point A using the total station (300) according to the measured coordinates; Step 1.7: Based on the measured coordinates, the total station (300) is used to calculate the horizontal distance D2 and the straight-line distance L2 between the optical center of the objective lens of the calibration scope (200) and the building landmark point B.

6. The method for calibrating the artillery electro-optical aiming axis and inclination angle according to claim 5 is characterized in that: The step 2 comprises the following steps: Step 2.1: Use the following formula to calculate the actual elevation angle α1 of the optical axis of the photoelectric detection device and the actual elevation angle α2 of the launch tube: α1=arccos(D1 / L1) α2 = arccos(D2 / L2); Step 2.2: Use the following formula to calculate the deviation between the optical axis of the photoelectric detection device and the elevation angle of the launch tube: Δα=α2-α1.

7. The method for calibrating the artillery electro-optical aiming axis and inclination angle according to claim 6 is characterized in that: The step 2 further comprises the following steps: Step 2.3: Use the following formula to calculate the azimuth angle deviation between the optical axis of the photoelectric detection device and the launch tube: Δβ=arctan((y2-y1) / (x2-x1))-arctan((y4-y3) / (x4-x3)).

8. The method for calibrating the artillery electro-optical aiming axis and inclination angle according to claim 7 is characterized in that: The step 3 is specifically as follows: using the obtained pitch angle deviation and azimuth angle deviation values, the error value between the optical axis of the photoelectric detection device and the axis of the launch tube is obtained, and the launch device is guided to launch accordingly.

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