A rapid laser calibration system and method for a motorized platform optical system

Abstract

A kind of quick laser calibration system and calibration method of motorized platform optical system belong to photoelectric field, including the calibration theodolite being arranged in the head of motorized platform;Calibration theodolite computer connected with calibration theodolite;Equipment to be measured, including the optical equipment to be calibrated and the non-optical equipment to be calibrated, the optical equipment to be calibrated and the non-optical equipment to be calibrated are visually this calibration theodolite;Equipment to be measured computer, including the optical equipment to be calibrated computer and the non-optical equipment to be calibrated computer, the optical equipment to be calibrated computer is connected with the optical equipment to be calibrated, the non-optical equipment to be calibrated computer is connected with the non-optical equipment to be calibrated;Calibration theodolite computer is connected with the optical equipment to be calibrated computer and the non-optical equipment to be calibrated computer respectively.The present application is reliable and practical, can realize quick calibration, calibration precision is high, application range is wide, the dependence on environmental conditions is low, while calibration operation is simple, can completely replace traditional star sighting calibration method.

Description

Technical Field

[0001] This invention belongs to the field of optoelectronic technology, specifically relating to a rapid laser calibration system and calibration method for a mobile platform optical system. Background Technology

[0002] The zero-position consistency calibration of the mobile platform system is an important and fundamental task in the system testing and use process. It is the prerequisite and foundation for the mobile platform system to accurately detect and track targets and perform accurate fire control calculations.

[0003] The installation and testing of the angles of artillery, radar, optoelectronic equipment, etc., in the mobile platform system are all based on the reference plane and bow-stern line of the mobile platform. During installation, the elevation and azimuth mechanical zero positions of the tested equipment are first adjusted to be consistent with the reference plane and bow-stern line of the mobile platform. Then, the electrical zero positions of each tested equipment are adjusted, and various auxiliary instruments and equipment are fully utilized to make them consistent with the reference plane and bow-stern line of the mobile platform. Finally, the mechanical zero positions and electrical zero positions of the tested equipment are made consistent with the reference elevation and azimuth angle zero positions of the mobile platform, so that the electrical transmission information can accurately express the actual physical values ​​and meet the system's usage requirements.

[0004] Under moored conditions, the zero-point consistency calibration of the mobile platform system mainly adopts the star-aiming method. The principle is that, using the mobile platform coordinate system as a reference, at a certain instant, the true-value instrument and the measured instrument simultaneously aim at Polaris, recording the measured angle values ​​simultaneously, thereby obtaining the azimuth and pitch angle errors of each measured instrument. The star-aiming method generally uses a theodolite as the true-value instrument for angle measurement. The horizontal reference of the theodolite is consistent with the reference plane of the mobile platform, and the directional reference of the theodolite is consistent with the bow and stern lines of the mobile platform. The optical system of the measured instrument and the theodolite simultaneously aim at a celestial body in the sky. The reason for choosing a celestial body as the aiming target is that the celestial body is far away, and the optical axes of multiple instruments aiming at it can be considered completely parallel. During the zero-point angle check, there is no need to consider the relative positions of each instrument in the mobile platform coordinate system and baseline corrections, making the inspection work relatively simple.

[0005] Although the existing star-aiming method can complete the zero-position consistency calibration of the angle of the mobile platform system to a certain extent, the star-aiming method also has many problems.

[0006] (1) The problem of targeting a single celestial body;

[0007] The celestial body chosen for aiming is generally Polaris (the North Star), with other celestial bodies rarely selected. Polaris is chosen primarily because its brightness is suitable, there are no other bright celestial bodies within a certain radius around it for easy identification, its slow movement in space and relatively fixed position facilitate tracking, and its elevation angle meets both the testing requirements of the equipment and the operational requirements of the theodolite. However, during calibration, if clouds obscure Polaris, light pollution over some cities renders it indistinguishable, or the mobile platform is parked in different locations causing upper-level buildings to block Polaris, inspection will be impossible, directly impacting the test progress.

[0008] (2) The stringent requirements for satellite aiming;

[0009] Satellite aiming must be performed under conditions of no wind, no waves, and minimal swaying of the motorized platform. If the wind is strong, the platform will tilt to one side. If the tilt angle exceeds the theodolite's elevation compensation range, the theodolite's measuring plane will not be able to be leveled with the platform's reference plane. If the waves are large, the platform will sway too frequently, making it impossible to manually adjust the quadrant and theodolite for leveling and synchronization, thus hindering the inspection. Even if the wind and waves are not strong, some motorized platforms, due to their small displacement, may still sway significantly and frequently, making the inspection impossible.

[0010] (3) The accuracy of the inspection is greatly affected by human factors;

[0011] During calibration, the theodolite's measuring plane must be manually adjusted to be level with the reference plane of the mobile platform. The gun barrel must be manually rocked to align its axis with the North Star, and the theodolite must be manually operated to track the North Star. These manual leveling and tracking operations are all completed while the mobile platform is rocking. It is very difficult to ensure that all aspects are completely coordinated. The entire inspection process places high demands on the operator, and human factors have a significant impact, making it difficult to guarantee measurement accuracy.

[0012] (4) The process of obtaining the true value of the measurement data provided by the target range cannot be automatically recorded, and the accuracy cannot be verified;

[0013] Currently, the operation of quadrant instruments and theodolites is done manually while the motorized platform is swaying. The data read is the data when the motorized platform sways to a random angle at a certain instant. At present, it can only be read and recorded manually, and this process and measurement data cannot be automatically recorded in the form of data, images, or videos. Once there is a problem with the data, it can only be re-measured, and it is impossible to analyze the data to find the problems in the true value measurement process. Summary of the Invention

[0014] Based on the analysis of existing star-aiming calibration methods, this invention studies a rapid laser calibration system and method for the optical system of a mobile platform, thereby solving the technical problems existing in the current star-aiming calibration methods.

[0015] The technical solution adopted by this invention to solve the technical problem is as follows:

[0016] The present invention provides a rapid laser calibration system for a mobile platform optical system, comprising:

[0017] A calibration theodolite positioned at the head of the mobile platform;

[0018] The calibration theodolite computer is connected to the calibration theodolite;

[0019] The device under test includes a calibrated photoelectric device and a calibrated non-photoelectric device, both of which are visually aligned with the calibrating theodolite.

[0020] The computer for the device under test includes a computer for calibrating an optoelectronic device and a computer for calibrating a non-optoelectronic device. The computer for calibrating the optoelectronic device is connected to the optoelectronic device being calibrated, and the computer for calibrating the non-optoelectronic device is connected to the non-optoelectronic device being calibrated. The computer for calibrating theodolite is connected to both the computer for calibrating the optoelectronic device and the computer for calibrating the non-optoelectronic device.

[0021] Furthermore, the calibration theodolite computer, the calibrated optoelectronic device, the calibrated optoelectronic device computer, the calibrated non-optoelectronic device, and the calibrated non-optoelectronic device computer are all mounted on a mobile platform.

[0022] Furthermore, the calibration theodolite includes: an optical system, an image processing system, and optoelectronic equipment; the optical system includes: an optical mirror group, a main laser static beam splitter, a main system CCD, a main laser static reflector, and a main laser; the optical mirror group, the main laser static beam splitter, and the main system CCD are arranged sequentially along the propagation direction of the main optical axis of the optical system; the optical mirror group is mechanically connected to the optoelectronic equipment, and the angle between the optical mirror group and the main optical axis is 90 degrees; the main laser static beam splitter is mechanically connected to the optoelectronic equipment, and the angle between the main laser static beam splitter and the main optical axis is 45 degrees; the main system CCD is mechanically connected to the optoelectronic equipment, and the angle between the main system CCD and the main optical axis is 0 degrees; the main laser emits laser light, which is reflected sequentially by the main laser static reflector and the main laser static beam splitter to the optical mirror group, and then emitted by the optical mirror group; external laser light is incident on the optical mirror group, and after being transmitted sequentially through the optical mirror group and the main laser static beam splitter, it is received by the main system CCD and imaged.

[0023] Furthermore, the optical mirror assembly is coated with optical coating to enhance its anti-reflective properties; the main laser static beam splitter is coated with optical coating to achieve a semi-reflective and semi-transparent effect; the main system CCD is a general-purpose CCD; the main laser static reflector is coated with optical coating to achieve its reflective properties; and the main laser is a general-purpose laser.

[0024] Furthermore, the calibration theodolite computer is a general-purpose computer; the calibrated optoelectronic device is a general-purpose optoelectronic device; the calibrated optoelectronic device computer is a general-purpose computer; the calibrated non-optoelectronic device is any other general-purpose device besides the general-purpose optoelectronic device; and the calibrated non-optoelectronic device computer is a general-purpose computer.

[0025] The present invention provides a rapid laser calibration method for a mobile platform optical system, which is implemented using the aforementioned rapid laser calibration system for a mobile platform optical system, and includes the following steps:

[0026] Step 1: Place a calibration theodolite at the head of the mobile platform, and ensure that the equipment being measured on the mobile platform has a visual view of the calibration theodolite and there is no physical obstruction.

[0027] Step 2: Coarsely adjust the azimuth and elevation angles of the theodolite so that it is visually aligned with the equipment being measured; at the same time, coarsely adjust the azimuth and elevation angles of the equipment being measured so that it is visually aligned with the theodolite.

[0028] Step 3: Determine the type of device under test. If the device under test is a calibrated optoelectronic device, proceed with the following steps:

[0029] The main laser in the calibration theodolite emits laser light, and the visible or infrared laser band is selected according to the optical system structure and detector type of the optoelectronic device being calibrated; the optical system in the optoelectronic device being calibrated receives the laser light emitted by the main laser in the calibration theodolite, and images it as a dot-shaped light spot in the optical system of the optoelectronic device being calibrated.

[0030] When the device under test is not a photoelectric device being calibrated, the following steps are performed:

[0031] A laser emitter is placed at the center of the non-photoelectric device being calibrated, and the laser emitter is placed perpendicular to the working surface of the non-photoelectric device being calibrated; the laser emitter in the non-photoelectric device being calibrated emits a laser; the optical system of the calibration theodolite receives the laser emitted by the laser emitter of the non-photoelectric device being calibrated, and images it as a dot-shaped light spot in the optical system of the calibration theodolite;

[0032] Step 4: Fine-tune the azimuth and elevation angles of the theodolite; simultaneously fine-tune the azimuth and elevation angles of the equipment being measured.

[0033] Step 5: Based on the type of device under test determined in Step 3, i.e., if the device under test is a calibrated optoelectronic device, proceed with the following steps:

[0034] By repeatedly iterating and adjusting step four, the off-target amount in the image processing system of the calibrated photoelectric device is made zero. At this time, the optical axis of the calibrating theodolite and the optical axis of the calibrated photoelectric device coincide.

[0035] When the device under test is not a photoelectric device being calibrated, the following steps are performed:

[0036] By repeatedly iterating and adjusting step four, the off-target amount in the image processing system of the theodolite is made zero. At this time, the optical axis of the theodolite and the optical axis of the non-photoelectric device being calibrated coincide.

[0037] Step 6: Process the data through the calibration theodolite computer connected to the calibration theodolite, record the angle values ​​of the calibration theodolite and the measured equipment, and calculate the angle difference between the calibration theodolite and the measured equipment.

[0038] Step 7: Take the angle value of the calibration theodolite as the true value. Then, the angle difference between the calibration theodolite and the measured equipment is the angle correction value required by the measured equipment. The calibration theodolite computer sends this angle correction value to the measured equipment computer, and the measured equipment computer corrects the angle of the measured equipment according to the angle correction value.

[0039] Furthermore, the rapid laser calibration method for a mobile platform optical system of the present invention is implemented using the aforementioned rapid laser calibration system for a mobile platform optical system, and includes the following steps:

[0040] Step S1: Place a calibration theodolite at the head of the mobile platform, and ensure that the calibration photoelectric equipment on the mobile platform can visually view the calibration theodolite without any physical obstruction.

[0041] Step S2: Coarsely adjust the azimuth and elevation angles of the theodolite so that it is visually aligned with the photoelectric device being calibrated;

[0042] Step S3: Coarsely adjust the azimuth and pitch angles of the photoelectric device being calibrated so that it can be visually calibrated using the theodolite;

[0043] Step S4: The main laser in the calibration theodolite emits a laser, and the visible or infrared laser band is selected according to the optical system structure and detector type of the optoelectronic device being calibrated.

[0044] Step S5: The optical system in the calibrated optoelectronic device receives the laser emitted by the main laser in the calibrated theodolite, and images it as a dot-shaped light spot in the optical system of the calibrated optoelectronic device;

[0045] Step S6: Fine-tune and calibrate the azimuth and elevation angles of the theodolite;

[0046] Step S7: Fine-tune the azimuth and pitch angles of the calibrated photoelectric device;

[0047] Step S8: Repeat steps S6 to S7 for iterative adjustments until the off-target amount in the image processing system of the calibrated photoelectric device is zero. At this time, the optical axis of the calibrating theodolite and the optical axis of the calibrated photoelectric device coincide.

[0048] Step S9: Process the data using the calibration theodolite computer, and record the angle values ​​of the calibration theodolite and the calibrated photoelectric equipment;

[0049] Step S10: The data is processed by the calibration theodolite computer to calculate the angle difference between the calibration theodolite and the calibrated photoelectric equipment;

[0050] Step S11: Take the angle value of the calibration theodolite as the true value, then the angle difference between the calibration theodolite and the calibrated photoelectric device is the angle correction value required for the calibrated photoelectric device;

[0051] Step S12: The angle correction value is sent to the computer of the calibrated photoelectric device via the calibration theodolite computer;

[0052] Step S13: The computer of the calibrated photoelectric device corrects the angle of the calibrated photoelectric device according to the angle correction value;

[0053] Step S14: Complete the calibration process of the calibrated optoelectronic device.

[0054] Furthermore, the rapid laser calibration method for a mobile platform optical system of the present invention is implemented using the aforementioned rapid laser calibration system for a mobile platform optical system, and includes the following steps:

[0055] Step S1: Place a calibration theodolite at the head of the mobile platform, and ensure that the non-photoelectric equipment being calibrated can visually see the calibration theodolite without any physical obstruction.

[0056] Step S2: Coarsely adjust the azimuth and elevation angles of the theodolite so that it is visually aligned with the non-photoelectric equipment being calibrated;

[0057] Step S3: Coarsely adjust the azimuth and pitch angles of the non-photoelectric device being calibrated so that it can be visually calibrated using the theodolite;

[0058] Step S4: Arrange a laser emitter at the center of the non-optoelectronic device being calibrated, with the laser emitter perpendicular to the working surface of the non-optoelectronic device being calibrated; the laser emitter in the non-optoelectronic device being calibrated emits a laser.

[0059] Step S5: The optical system of the calibration theodolite receives the laser emitted by the laser emitter of the non-photoelectric device being calibrated, and images it as a dot-shaped light spot in the optical system of the calibration theodolite;

[0060] Step S6: Fine-tune and calibrate the azimuth and elevation angles of the theodolite;

[0061] Step S7: Fine-tune the azimuth and pitch angles of the non-photoelectric device being calibrated;

[0062] Step S8: Repeat steps S6 to S7 for iterative adjustments until the off-target amount in the image processing system of the theodolite is zero. At this time, the optical axis of the theodolite and the optical axis of the non-photoelectric device being calibrated coincide.

[0063] Step S9: Process the data using the calibration theodolite computer, and record the angle values ​​of the calibration theodolite and the non-photoelectric equipment being calibrated;

[0064] Step S10: The data is processed by the calibration theodolite computer to calculate the angle difference between the calibration theodolite and the non-photoelectric equipment being calibrated;

[0065] Step S11: Take the angle value of the calibration theodolite as the true value, then the angle difference between the calibration theodolite and the non-photoelectric device being calibrated is the angle correction value required for the non-photoelectric device being calibrated;

[0066] Step S12: The angle correction value is sent to the computer of the non-photoelectric device being calibrated via the calibration theodolite computer;

[0067] Step S13: The non-photoelectric device being calibrated is adjusted in angle by the computer based on the angle correction value;

[0068] Step S14: Complete the calibration process for the non-optoelectronic device being calibrated.

[0069] The beneficial effects of this invention are:

[0070] The present invention provides a rapid laser calibration system and calibration method for a mobile platform optical system, which can realize the rapid calibration of artillery, radar, optoelectronic and other equipment in the mobile platform. Through rapid calibration, the influence of system errors on the performance of the mobile platform system can be eliminated, thereby ensuring the pointing consistency of artillery, radar, optoelectronic and other equipment in the mobile platform and improving the calibration accuracy of the mobile platform system.

[0071] The present invention provides a rapid laser calibration system and calibration method for a mobile platform optical system. It is unaffected by weather, does not require mooring of the mobile platform, is not limited by time, requires no manual intervention, is reliable and practical, can achieve rapid and fully automatic calibration, has high calibration accuracy, a wide range of applications, low dependence on environmental conditions, and is simple to operate. It can completely replace the traditional star-aiming calibration method. Attached Figure Description

[0072] Figure 1 This is a schematic diagram of the structure of a rapid laser calibration system for a mobile platform optical system according to the present invention.

[0073] Figure 2 This is a schematic diagram of the optical system structure for calibrating a theodolite.

[0074] In the diagram, 1. Calibration theodolite; 1-1. Optical lens group; 1-2. Main laser static beam splitter; 1-3. Main system CCD; 1-4. Main laser static reflector; 1-5. Main laser; 2. Calibration theodolite computer; 3. Calibrated optoelectronic equipment; 4. Calibrated optoelectronic equipment computer; 5. Calibrated non-optoelectronic equipment; 6. Calibrated non-optoelectronic equipment computer. Detailed Implementation

[0075] The present invention will be further described in detail below with reference to the accompanying drawings.

[0076] like Figure 1 As shown, the rapid laser calibration system for a mobile platform optical system of the present invention mainly includes: a calibration theodolite 1, a calibration theodolite computer 2, a device under test, and a device under test computer; wherein, the device under test mainly has two types, namely, a calibrated photoelectric device 3 and a calibrated non-photoelectric device 5, and the corresponding device under test computers are a calibrated photoelectric device computer 4 and a calibrated non-photoelectric device computer 6.

[0077] The calibration theodolite 1 is positioned at the head of the mobile platform, ensuring that both the photoelectric device 3 and the non-photoelectric device 5 being calibrated on the platform can visually view the calibration theodolite 1 without any physical obstruction. Simultaneously, the calibration theodolite computer 2, the devices being measured (the photoelectric device 3 and the non-photoelectric device 5 being calibrated), and the computers for the devices being measured (the photoelectric device computer 4 and the non-photoelectric device computer 6 being calibrated) are all mounted on the mobile platform.

[0078] Specifically, the calibration theodolite 1 and the calibration theodolite computer 2 are connected by a cable; the device under test and the device under test computer are connected by a cable, specifically: the calibration photoelectric device 3 and the calibration photoelectric device computer 4 are connected by a cable; the calibration non-photoelectric device 5 and the calibration non-photoelectric device computer 6 are connected by a cable; the calibration theodolite computer 2 and the calibration photoelectric device computer 4 are connected by a cable; and the calibration theodolite computer 2 and the calibration non-photoelectric device computer 6 are connected by a cable.

[0079] The main components of the calibration theodolite 1 include: an optical system, an image processing system, and optoelectronic equipment. For example... Figure 2As shown, the optical system of the calibration theodolite 1 mainly includes: optical mirror group 1-1, main laser static beam splitter 1-2, main system CCD 1-3, main laser static reflector 1-4, and main laser 1-5. Inside the calibration theodolite 1, optical mirror group 1-1, main laser static beam splitter 1-2, and main system CCD 1-3 are placed sequentially from left to right along the main optical axis propagation direction of optical mirror group 1-1 and main system CCD 1-3. Specifically, optical mirror group 1-1 is mechanically connected to the photoelectric equipment in the calibration theodolite 1, and is placed at a 90-degree angle to the main optical axis; main laser static beam splitter 1-2 is mechanically connected to the photoelectric equipment in the calibration theodolite 1, and is placed at a 45-degree angle to the main optical axis; main system CCD 1-3 is mechanically connected to the photoelectric equipment in the calibration theodolite 1, and is placed at a 0-degree angle to the main optical axis.

[0080] The main laser 1-5 in the calibration theodolite 1 emits a laser beam, which is reflected by the main laser static reflector 1-4 to the main laser static beam splitter 1-2, and then reflected by the main laser static beam splitter 1-2 to the optical mirror group 1-1, from which the laser beam exits. At the same time, external light enters the optical mirror group 1-1, and after passing through the optical mirror group 1-1 and the main laser static beam splitter 1-2 in sequence, it is finally received and imaged by the main system CDD1-3.

[0081] In this embodiment, the optical mirror group 1-1 is coated with optical coating to enhance its anti-reflection effect, the main laser static beam splitter 1-2 is coated with optical coating to achieve a semi-reflective and semi-transparent effect, the main system CCD 1-3 is a general-purpose CCD, the main laser static reflector 1-4 is coated with optical coating to achieve its reflective effect, and the main laser 1-5 is a general-purpose laser.

[0082] This invention discloses a rapid laser calibration system for a mobile platform optical system, primarily employing a calibration theodolite 1 as the calibration truth-setting device. This calibration theodolite 1 features a high-precision design, with control and measurement accuracy exceeding that of other measured devices within the mobile platform system. Furthermore, the calibration theodolite 1 incorporates a laser emission optical path, encompassing both visible and infrared wavelengths. The optical system of the calibration theodolite 1 integrates laser emission control with a small divergence angle, allowing the laser to be considered to be at infinity.

[0083] In this invention, the calibration theodolite computer 2 is a general-purpose computer; the calibrated optoelectronic device 3 is a general-purpose optoelectronic device; the calibrated optoelectronic device computer 4 is a general-purpose computer; the calibrated non-optoelectronic device 5 is other general-purpose equipment such as artillery and radar; and the calibrated non-optoelectronic device computer 6 is a general-purpose computer.

[0084] The present invention provides a rapid laser calibration method for an optical system of a mobile platform, which mainly includes the following steps:

[0085] Step 1: Place the calibration theodolite 1 at the head of the mobile platform, while ensuring that the equipment being measured on the mobile platform can visually see the calibration theodolite 1 without any physical obstruction.

[0086] Step 2: Coarsely adjust the azimuth and elevation angles of the theodolite 1 so that it is visually aligned with the device being measured; at the same time, coarsely adjust the azimuth and elevation angles of the device being measured so that it is visually aligned with the theodolite 1.

[0087] Step 3: Determine the type of the device under test. When the device under test is the photoelectric device 3 to be calibrated, proceed with the following steps:

[0088] The main laser 1-5 in the calibration theodolite 1 emits laser light, and selects a visible or infrared laser band according to the optical system structure and detector type of the photoelectric device 3 being calibrated; the optical system in the photoelectric device 3 being calibrated receives the laser light emitted by the main laser 1-5 in the calibration theodolite 1, and images it as a dot-shaped light spot in the optical system of the photoelectric device 3 being calibrated.

[0089] When the device under test is a non-optoelectronic device 5 being calibrated, the following steps are performed:

[0090] A laser emitter is placed at the center of the non-photoelectric device 5 being calibrated, and the laser emitter is placed perpendicular to the working surface of the non-photoelectric device 5 being calibrated; the laser emitter in the non-photoelectric device 5 being calibrated emits laser light; the optical system of the calibration theodolite 1 receives the laser light emitted by the laser emitter of the non-photoelectric device 5 being calibrated, and the laser light is imaged as a dot-shaped light spot in the optical system of the calibration theodolite 1.

[0091] Step 4: Fine-tune the azimuth and elevation angles of the theodolite 1; simultaneously fine-tune the azimuth and elevation angles of the equipment being measured.

[0092] Step 5: Based on the type of the device under test determined in Step 3, i.e., when the device under test is the calibrated optoelectronic device 3, perform the following steps:

[0093] By repeatedly iterating and adjusting step four, the off-target amount in the image processing system of the calibrated photoelectric device 3 is made zero. At this time, the optical axis of the calibrating theodolite 1 and the optical axis of the calibrated photoelectric device 3 coincide.

[0094] When the device under test is a non-optoelectronic device 5 being calibrated, the following steps are performed:

[0095] By repeatedly iterating and adjusting step four, the off-target amount in the image processing system of the theodolite 1 is made zero. At this time, the optical axis of the theodolite 1 and the optical axis of the non-photoelectric device 5 being calibrated coincide.

[0096] Step 6: Data processing is performed by the calibration theodolite computer 2 connected to the calibration theodolite 1, recording the angle values ​​of the calibration theodolite 1 and the measured equipment, and simultaneously calculating the angle difference between the calibration theodolite 1 and the measured equipment.

[0097] Step 7: Take the angle value of the calibration theodolite 1 as the true value. Then the angle difference between the calibration theodolite 1 and the device under test is the angle correction value required by the device under test. Send this angle correction value to the computer of the device under test through the calibration theodolite computer 2. The computer of the device under test corrects the angle of the device under test according to the angle correction value, thus completing the calibration process of the device under test. Specific Implementation Method 1

[0099] The present invention discloses a rapid laser calibration method for a mobile platform optical system. The photoelectric device 3 to be calibrated is a general-purpose photoelectric device. The specific operation procedure for calibrating the photoelectric device 3 is as follows:

[0100] Step S1: Place the calibration theodolite 1 at the head of the mobile platform, while ensuring that the calibration photoelectric device 3 on the mobile platform can visually see the calibration theodolite 1 without any physical obstruction.

[0101] Step S2: Coarsely adjust the azimuth and elevation angles of the theodolite 1 so that it is visually aligned with the photoelectric device 3 being calibrated;

[0102] Step S3: Coarsely adjust the azimuth and pitch angles of the photoelectric device 3 to make it visually calibrate the theodolite 1;

[0103] Step S4: The main laser 1-5 in the calibration theodolite 1 emits a laser (specifically: the main laser 1-5 in the calibration theodolite 1 emits a laser, which is reflected by the main laser static reflector 1-4 to the main laser static beam splitter 1-2, and then reflected by the main laser static beam splitter 1-2 to the optical mirror group 1-1, and emitted from the optical mirror group 1-1). Based on the optical system structure and detector type of the photoelectric device 3 being calibrated, a visible or infrared laser band is selected.

[0104] Step S5: The optical system in the calibrated optoelectronic device 3 receives the laser emitted by the main laser 1-5 in the calibrated theodolite 1, and images it as a dot-shaped light spot in the optical system of the calibrated optoelectronic device 3;

[0105] Step S6: Fine-tune and calibrate the azimuth and elevation angles of the theodolite 1;

[0106] Step S7: Fine-tune the azimuth and pitch angles of the calibrated optoelectronic device 3;

[0107] Step S8: Repeat steps S6 to S7 for iterative adjustment until the off-target amount in the image processing system of the calibrated photoelectric device 3 is zero. At this time, the optical axis of the calibrating theodolite 1 and the optical axis of the calibrated photoelectric device 3 coincide.

[0108] Step S9: Data processing is performed by the calibration theodolite computer 2 connected to the calibration theodolite 1, and the angle values ​​of the calibration theodolite 1 and the calibrated photoelectric device 3 are recorded.

[0109] Step S10: The calibration theodolite computer 2 connected to the calibration theodolite 1 performs data processing to calculate the angle difference between the calibration theodolite 1 and the calibrated photoelectric device 3.

[0110] Step S11: Take the angle value of the calibration theodolite 1 as the true value, then the angle difference between the calibration theodolite 1 and the calibrated photoelectric device 3 is the angle correction value required by the calibrated photoelectric device 3;

[0111] Step S12: The angle correction value is sent to the computer 4 of the photoelectric device being calibrated via the calibration theodolite computer 2 connected to the calibration theodolite 1;

[0112] Step S13: The calibration photoelectric device 3 is calibrated by the calibration photoelectric device computer 4 connected to the calibration photoelectric device 3 according to the angle correction value;

[0113] Step S14: Complete the calibration process of the calibrated optoelectronic device 3. Specific Implementation Method Two

[0115] The present invention discloses a rapid laser calibration method for a mobile platform optical system. The non-optoelectronic device 5 to be calibrated is a cannon, radar, or other general-purpose equipment. The specific operation procedure for calibrating the non-optoelectronic device 5 is as follows:

[0116] Step S1: Place the calibration theodolite 1 at the head of the mobile platform, while ensuring that the non-photoelectric equipment 5 being calibrated on the mobile platform can visually see the calibration theodolite 1 and that there is no physical obstruction.

[0117] Step S2: Coarsely adjust the azimuth and elevation angles of the theodolite 1 so that it is visually aligned with the non-photoelectric device 5 being calibrated;

[0118] Step S3: Coarsely adjust the azimuth and pitch angles of the non-photoelectric device 5 to make it visually calibrate the theodolite 1;

[0119] Step S4: Arrange a laser emitter at the center of the non-photoelectric device 5 to be calibrated, with the laser emitter perpendicular to the working surface of the non-photoelectric device 5; the laser emitter in the non-photoelectric device 5 emits a laser.

[0120] Step S5: The optical system of the calibration theodolite 1 receives the laser emitted by the laser emitter of the non-optical device 5 being calibrated, and images it as a dot-shaped light spot in the optical system of the calibration theodolite 1 (specifically: the laser emitted by the laser emitter of the non-optical device 5 being calibrated is incident on the optical mirror group 1-1 of the calibration theodolite 1, and then passes through the optical mirror group 1-1 and the main laser static beam splitter 1-2 in sequence, and is finally received by the main system CDD1-3 and imaged as a dot-shaped light spot).

[0121] Step S6: Fine-tune and calibrate the azimuth and elevation angles of the theodolite 1;

[0122] Step S7: Fine-tune the azimuth and pitch angles of the non-photoelectric device 5 being calibrated;

[0123] Step S8: By repeatedly iterating and adjusting steps S6 to S7, the off-target amount in the image processing system of the theodolite 1 is zero. At this time, the optical axis of the theodolite 1 coincides with the optical axis of the non-photoelectric device 5 being calibrated.

[0124] Step S9: Data processing is performed by the calibration theodolite computer 2 connected to the calibration theodolite 1, and the angle values ​​of the calibration theodolite 1 and the non-photoelectric device 5 being calibrated are recorded;

[0125] Step S10: The calibration theodolite computer 2 connected to the calibration theodolite 1 performs data processing to calculate the angle difference between the calibration theodolite 1 and the non-photoelectric device 5 being calibrated;

[0126] Step S11: Take the angle value of the calibration theodolite 1 as the true value, then the angle difference between the calibration theodolite 1 and the non-photoelectric device 5 being calibrated is the angle correction value required for the non-photoelectric device 5 being calibrated.

[0127] Step S12: The angle correction value is sent to the non-photoelectric device computer 6 being calibrated via the calibration theodolite computer 2 connected to the calibration theodolite 1;

[0128] Step S13: The non-photoelectric device 5 is calibrated by the computer 6 connected to the non-photoelectric device 5 according to the angle correction value.

[0129] Step S14: Complete the calibration process for the non-optoelectronic device 5 being calibrated.

[0130] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A rapid laser calibration system for a motorized platform optical system, characterized by, include: A calibration theodolite positioned at the head of the mobile platform; The calibration theodolite computer is connected to the calibration theodolite; The device under test includes a calibrated photoelectric device and a calibrated non-photoelectric device, both of which are visually aligned with the calibrating theodolite. The computer for the device under test includes a computer for calibrating an optoelectronic device and a computer for calibrating a non-optoelectronic device. The computer for calibrating the optoelectronic device is connected to the optoelectronic device being calibrated, and the computer for calibrating the non-optoelectronic device is connected to the non-optoelectronic device being calibrated. The computer for calibrating theodolite is connected to both the computer for calibrating the optoelectronic device and the computer for calibrating the non-optoelectronic device. The calibration theodolite computer, the calibrated optoelectronic device, the calibrated optoelectronic device computer, the calibrated non-optoelectronic device, and the calibrated non-optoelectronic device computer are all mounted on a mobile platform; The calibration theodolite includes an optical system, an image processing system, and optoelectronic equipment. The optical system includes an optical mirror group, a main laser static beam splitter, a main system CCD, a main laser static reflector, and a main laser. The optical mirror group, main laser static beam splitter, and main system CCD are arranged sequentially along the propagation direction of the main optical axis of the optical system. The optical mirror group is mechanically connected to the optoelectronic equipment, and the angle between the optical mirror group and the main optical axis is 90 degrees. The main laser static beam splitter is mechanically connected to the optoelectronic equipment, and the angle between the main laser static beam splitter and the main optical axis is 45 degrees. The main system CCD is mechanically connected to the optoelectronic equipment, and the angle between the main system CCD and the main optical axis is 0 degrees. The main laser emits laser light, which is reflected sequentially by the main laser static reflector and the main laser static beam splitter to the optical mirror group, and then emitted from the optical mirror group. External laser light is incident on the optical mirror group, transmitted sequentially through the optical mirror group and the main laser static beam splitter, and then received by the main system CCD for imaging.

2. A rapid laser calibration system for a motorized platform optical system according to claim 1, wherein, The optical mirror assembly is coated with an optical coating to enhance its anti-reflective properties; the main laser static beam splitter is coated with an optical coating to achieve a semi-reflective and semi-transparent effect; the main system CCD is a general-purpose CCD; the main laser static reflector is coated with an optical coating to achieve its reflective properties; and the main laser is a general-purpose laser.

3. A rapid laser calibration system for a motorized platform optical system according to claim 1, wherein, The calibration theodolite computer is a general-purpose computer; the calibrated optoelectronic device is a general-purpose optoelectronic device; the calibrated optoelectronic device computer is a general-purpose computer; the calibrated non-optoelectronic device is any other general-purpose device besides the general-purpose optoelectronic device; the calibrated non-optoelectronic device computer is a general-purpose computer.

4. A method for fast laser calibration of a motorized platform optical system, characterized in that, The rapid laser calibration system for a mobile platform optical system, as described in any one of claims 1-3, is implemented by comprising the following steps: Step 1: Place a calibration theodolite at the head of the mobile platform, and ensure that the equipment being measured on the mobile platform has a visual view of the calibration theodolite and there is no physical obstruction. Step 2: Coarsely adjust the azimuth and elevation angles of the theodolite so that it is visually aligned with the equipment being measured; at the same time, coarsely adjust the azimuth and elevation angles of the equipment being measured so that it is visually aligned with the theodolite. Step three, judging the type of the measured device, when the measured device is the calibrated optoelectronic device, the following steps are performed: The main laser in the calibration theodolite emits laser, according to the optical system structure and the detector type of the calibrated optoelectronic device, the visible or infrared laser band is selected; the optical system in the calibrated optoelectronic device receives the laser emitted by the main laser in the calibration theodolite, and the laser is imaged as a point spot in the optical system of the calibrated optoelectronic device; When the measured device is the calibrated non-optoelectronic device, the following steps are performed: A laser emitter is arranged at the center position of the calibrated non-optoelectronic device, and the laser emitter is arranged vertically to the working surface of the calibrated non-optoelectronic device; the laser emitter in the calibrated non-optoelectronic device emits laser; the optical system of the calibration theodolite receives the laser emitted by the laser emitter of the calibrated non-optoelectronic device, and the laser is imaged as a point spot in the optical system of the calibration theodolite; Step four, fine adjustment of the azimuth angle and the elevation angle of the calibration theodolite; at the same time, fine adjustment of the azimuth angle and the elevation angle of the measured device is performed; Step five, according to the type of the measured device judged in step three, that is, when the measured device is the calibrated optoelectronic device, the following steps are performed: Through repeated iteration adjustment by repeating step four, the off-target amount in the image processing system of the calibrated optoelectronic device is zero, at this time, the optical axis of the calibration theodolite and the optical axis of the calibrated optoelectronic device coincide; When the measured device is the calibrated non-optoelectronic device, the following steps are performed: Through repeated iteration adjustment by repeating step four, the off-target amount in the image processing system of the calibration theodolite is zero, at this time, the optical axis of the calibration theodolite and the optical axis of the calibrated non-optoelectronic device coincide; Step six, data processing is performed through the calibration theodolite computer connected with the calibration theodolite, the angle value of the calibration theodolite and the angle value of the measured device are recorded, and the angle difference value between the calibration theodolite and the measured device is calculated; Step seven, the angle value of the calibration theodolite is taken as the true value, then the angle difference value between the calibration theodolite and the measured device is the angle correction value required by the measured device, the angle correction value is sent to the measured device computer through the calibration theodolite computer, and the measured device is angle-corrected according to the angle correction value through the measured device computer.

5. A method for fast laser calibration of a motorized platform optical system, characterized in that, The rapid laser calibration system of the optical system of the motorized platform is realized by adopting the rapid laser calibration system of the optical system of the motorized platform according to any one of claims 1-3, and the following steps are included: Step S1: arranging a calibration theodolite at the head of the motorized platform, and making the calibrated optoelectronic device on the motorized platform visually see the calibration theodolite without physical obstruction; Step S2: coarsely adjusting the azimuth angle and the elevation angle of the calibration theodolite, so that the calibration theodolite visually sees the calibrated optoelectronic device; Step S3: coarsely adjusting the azimuth angle and the elevation angle of the calibrated optoelectronic device, so that the calibrated optoelectronic device visually sees the calibration theodolite; Step S4: the main laser in the calibration theodolite emits laser, according to the optical system structure and the detector type of the calibrated optoelectronic device, the visible or infrared laser band is selected; Step S5: the optical system in the calibrated optoelectronic device receives the laser emitted by the main laser in the calibration theodolite, and the laser is imaged as a point spot in the optical system of the calibrated optoelectronic device; Step S6: fine adjustment of the azimuth angle and the elevation angle of the theodolite; Step S7: fine adjustment of the azimuth angle and the elevation angle of the photoelectric device to be calibrated; Step S8: iterative adjustment by repeating steps S6 to S7, so that the off-target amount in the image processing system of the photoelectric device to be calibrated is zero, at which time the optical axis of the theodolite and the optical axis of the photoelectric device to be calibrated coincide; Step S9: data processing by the theodolite computer, recording the angle values of the theodolite and the photoelectric device to be calibrated; Step S10: data processing by the theodolite computer, calculating the angle difference between the theodolite and the photoelectric device to be calibrated; Step S11: taking the angle value of the theodolite as the true value, the angle difference between the theodolite and the photoelectric device to be calibrated is the angle correction value required by the photoelectric device to be calibrated; Step S12: sending the angle correction value to the computer of the photoelectric device to be calibrated by the theodolite computer; Step S13: angle correction of the photoelectric device to be calibrated according to the angle correction value by the computer of the photoelectric device to be calibrated; Step S14: completion of the calibration process of the photoelectric device to be calibrated.

6. A method for fast laser calibration of a motorized platform optical system, characterized in that, The rapid laser calibration system of the optical system of the motorized platform is implemented by the method of any one of claims 1-3, comprising the following steps: Step S1: arranging a calibration theodolite at the head of the motorized platform, and making the non-photoelectric device to be calibrated visually see the calibration theodolite without physical obstruction; Step S2: coarse adjustment of the azimuth angle and the elevation angle of the theodolite, so that it visually sees the non-photoelectric device to be calibrated; Step S3: coarse adjustment of the azimuth angle and the elevation angle of the non-photoelectric device to be calibrated, so that it visually sees the theodolite; Step S4: arranging a laser emitter at the center of the non-photoelectric device to be calibrated, and placing the laser emitter vertically to the working surface of the non-photoelectric device to be calibrated; the laser emitter in the non-photoelectric device to be calibrated emits laser; Step S5: the optical system of the theodolite receives the laser emitted by the laser emitter of the non-photoelectric device to be calibrated, and images it as a point-shaped light spot in the optical system of the theodolite; Step S6: fine adjustment of the azimuth angle and the elevation angle of the theodolite; Step S7: fine adjustment of the azimuth angle and the elevation angle of the non-photoelectric device to be calibrated; Step S8: iterative adjustment by repeating steps S6 to S7, so that the off-target amount in the image processing system of the theodolite is zero, at which time the optical axis of the theodolite and the optical axis of the non-photoelectric device to be calibrated coincide; Step S9: data processing by the theodolite computer, recording the angle values of the theodolite and the non-photoelectric device to be calibrated; Step S10: data processing by the theodolite computer, calculating the angle difference between the theodolite and the non-photoelectric device to be calibrated; Step S11: taking the angle value of the theodolite as the true value, the angle difference between the theodolite and the non-photoelectric device to be calibrated is the angle correction value required by the non-photoelectric device to be calibrated; Step S12: sending the angle correction value to the computer of the non-photoelectric device to be calibrated by the theodolite computer; Step S13: angle correction of the non-photoelectric device to be calibrated according to the angle correction value by the computer of the non-photoelectric device to be calibrated; Step S13: correcting the angle of the non-optoelectronic device under calibration according to the angle correction value by the non-optoelectronic device under calibration computer; Step S14: completing the calibration process of the non-optoelectronic device under calibration.

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