A method for checking the accuracy of a gun

Abstract

This invention relates to a method for verifying the accuracy of artillery, comprising the following steps: North-pointing calibration of the artillery is performed, and the artillery after north-pointing calibration is taken as the initial state. If automatic gun-adjustment accuracy verification is performed, the azimuth and elevation angles measured by the artillery's inertial navigation system in the initial state are recorded, as well as the azimuth and elevation angles of the artillery barrel's central axis measured by the north-pointing total station in the initial state are recorded. If aiming line offset verification is performed, the azimuth and elevation angles measured by the artillery's inertial navigation system in the initial state, as well as the reading of the gun sight, are recorded. A first marker point and a second marker point are respectively affixed to the breech and muzzle on one side of the artillery barrel. A first total station and a second total station are respectively set up on the rear and front sides of the artillery barrel. This invention can solve problems such as inconsistent north-pointing among various types of equipment, lack of artillery inertial navigation detection methods, low efficiency of traditional aiming system detection methods, and lack of detection methods under field conditions.

Description

Technical Field

[0001] This invention relates to the field of artillery calibration technology, specifically a method for calibrating artillery accuracy. Background Technology

[0002] With the continuous improvement of equipment informatization, the mobility and strike capability of artillery have undergone a qualitative transformation. The intelligence, command and control, strike, and support capabilities of artillery units are gradually developing towards a system-wide collaborative approach. Based on a "one network, four chains" framework, the advantages of informatization's "sharing, integration, and linkage" are fully utilized to continuously enhance the strike capability of fire units. However, after the deployment of new artillery pieces, the inconsistent inertial navigation systems selected for artillery vehicles, reconnaissance vehicles, and geodetic vehicles lead to inconsistencies in platform north-finding and positioning accuracy. This makes it difficult to integrate data from different equipment, hindering the sharing of reconnaissance, command, and strike information. Consequently, the overall effectiveness of the informatized fire strike system is hampered, and the "rapid strike and withdrawal" capability of fire strike units cannot be realized.

[0003] Currently, some weapon platforms have not yet been equipped with suitable artillery aiming verification platforms. For aiming accuracy problems, traditional methods can only be used for detection, which has problems such as low detection efficiency, poor accuracy, and complicated operation. At the same time, it is limited by the difficulty in finding the site and landmarks, making it difficult to implement aiming accuracy detection for fire strike weapon platforms.

[0004] The accuracy of fully automatic gun adjustment mainly involves measuring the azimuth and elevation angle errors present in the automatic gun adjustment. While the elevation angle error can be accurately measured directly using a quadrant, the measurement of the azimuth angle error is more complex. This application employs a relative measurement method, utilizing three-dimensional spatial geometry principles to measure the relative rotation angle of the gun adjustment, and then calculates the accuracy of the automatic gun adjustment.

[0005] Aiming line offset detection mainly measures gun deviation, aiming line offset, and sight offset caused by trunnion wear, repairs, barrel collisions, etc. The basic principle is: when the gun has no deviation, the gun's central axis moves in a vertical plane; when gun deviation occurs, the gun's central axis moves in a fixed inclined plane.

[0006] When the elevation angle of the gun changes, the gun deflection is calculated by calculating the directional angle offset of the gun's central axis; the gun aiming line offset is calculated by calculating the angle between the plane containing the central axis when the elevation changes and the vertical plane containing the central axis when the elevation angle is zero; the difference between the deviation of the sight reading and the gun deflection when the elevation angle changes is the gun sight offset. Summary of the Invention

[0007] The technical problem to be solved by this invention is to provide a method for verifying the accuracy of artillery in response to the above-mentioned shortcomings. This invention can solve problems such as inconsistent north-finding of multiple types of equipment, lack of inertial navigation detection methods for artillery, low efficiency of traditional aiming system detection methods, and lack of detection methods under field conditions.

[0008] To solve the above technical problems, the present invention adopts the following technical solution:

[0009] A method for verifying the accuracy of artillery includes the following steps:

[0010] Step 1: Perform northward calibration on the artillery, and use the artillery after northward calibration as the initial state. If performing automatic gun adjustment accuracy verification, record the azimuth and elevation angles measured by the artillery inertial navigation system in the initial state, and use a northward total station to record the azimuth and elevation angles of the artillery barrel center axis in the initial state. If performing aiming line offset verification, record the azimuth and elevation angles measured by the artillery inertial navigation system in the initial state, as well as the reading of the gun sight.

[0011] Step 2: Attach the first and second marking points to the breech and muzzle of the cannon on one side of the cannon barrel, respectively.

[0012] Step 3: Set up the first total station and the second total station on the rear and front sides of the gun barrel, respectively, and the first total station and the second total station are located on the same side of the gun barrel where the first and second marking points are set.

[0013] Step 4: Use the first total station and the second total station to collect multiple sets of azimuth and elevation angle data of the first and second marker points in the initial state of the artillery, and calculate the average of the azimuth and elevation angle data of the first and second marker points collected by the first and second total stations.

[0014] Step 5: Calculate the direction angle and elevation angle of the vector formed by the first marker point pointing to the second marker point using the data obtained in Step 4;

[0015] Step 6: If Step 1 is to perform automatic gun adjustment accuracy verification, then change the azimuth angle of the gun and record the azimuth angle and elevation angle measured by the gun inertial navigation system after the azimuth angle is changed; if Step 1 is to perform aiming line offset verification, then change the elevation angle of the gun and record the azimuth angle and elevation angle measured by the gun inertial navigation system after the elevation angle is changed, as well as the current gun sight reading.

[0016] Step 7: Use the first total station and the second total station to collect multiple sets of azimuth and elevation data of the first and second marker points after the azimuth or elevation angle of the artillery is changed;

[0017] Step 8: Using the data obtained in Step 7, calculate the mean value of the direction angle and the mean value of the elevation angle of the vector formed by the first marker point pointing to the second marker point, and calculate the changes in the direction angle and elevation angle relative to the initial state.

[0018] Step 9: If step 1 is to perform automatic gun adjustment accuracy verification, then calculate the azimuth angle and elevation angle of the gun barrel center axis after the azimuth angle is changed based on the change of the vector.

[0019] If step 1 is to perform aiming line offset verification, then calculate the azimuth deviation angle, aiming line deviation angle, and aiming scope deviation angle of the gun based on the change in the vector.

[0020] Step 10: Repeat steps 4 to 9. If step 1 is to perform automatic gun adjustment accuracy verification, multiple sets of gun barrel center axis data for azimuth and elevation angles after changing azimuth angle are obtained. If step 1 is to perform aiming line offset verification, multiple sets of gun azimuth deviation angle, gun aiming line deviation angle, and gun aiming scope deviation angle are obtained to obtain gun aiming deviation values ​​at different elevation angles.

[0021] Furthermore, the azimuth and elevation data collected in step 4 include three sets:

[0022] First set of data:

[0023] First marker observation: (oθ) PWL1 ,oβ PWL1 ,oθ PWR1 ,oβ PWR1 )

[0024] Second marker observation: (oθ) PKL1 ,oβ PKL1 ,oθ PKR1 ,oβ PKR1 )

[0025] Second set of data:

[0026] First marker observation: (oθ) PWL2 ,oβ PWL2 ,oθ PWR2 ,oβ PWR2 )

[0027] Second marker observation: (oθ) PKL2 ,oβ PKL2 ,oθ PKR2 ,oβ PKR2 )

[0028] Third set of data:

[0029] First marker observation: (oθ) PWL3 ,oβ PWL3,oθ PWR3 ,oβ PWR3 )

[0030] Second marker observation: (oθ) PKL3 ,oβ PKL3 ,oθ PKR3 ,oβ PKR3 )

[0031] Where, oθ PWLi Let β be the azimuth angle of the first marker point measured by the first total station in the i-th data set under the initial state. PWLi Let θ be the elevation angle of the first marker point measured by the first total station in the i-th data set under the initial state. PWRi Let β be the azimuth angle of the first marker point measured by the second total station in the i-th data set under the initial state. PWRi Let θ be the elevation angle of the first marker point measured by the second total station in the i-th data set under the initial state. PKLi Let β be the azimuth angle of the second marker point measured by the first total station in the i-th data set under the initial state. PKLi Let θ be the elevation angle of the second marker point measured by the first total station in the i-th data set under the initial state. PKRi Let β be the azimuth angle of the second marker point measured by the second total station in the i-th data set under the initial state. PKRi Let i be the elevation angle of the second marker point measured by the second total station in the i-th data set under the initial state, where i = 1, 2, 3;

[0032] Calculation of the mean of the measurement data of the first and second marker points:

[0033] First marker point:

[0034] Second marker point:

[0035] Where, oθ PWL oβ is the mean azimuth angle of the first marker point measured by the first total station in the initial state. PWL Let θ be the average elevation angle of the first marker point measured by the first total station in the initial state. PWR oβ is the mean azimuth angle of the first marker point measured by the second total station in the initial state. PWR The mean elevation angle of the first marker point measured by the second total station in the initial state is θ. PKL oβ is the mean azimuth angle of the second marker point measured by the first total station in the initial state. PKL Let θ be the average elevation angle of the second marker point measured by the first total station in the initial state. PKR oβ is the mean azimuth angle of the second marker point measured by the second total station in the initial state. PKRThe average elevation angle of the second marker point measured by the second total station in the initial state.

[0036] Furthermore, step 5 specifically includes the following steps:

[0037] Calculate the three-dimensional spatial coordinates oA(x) of the first marker point. oA ,y oA ,z oA ):

[0038] oA(x oA ,y oA ,z oA )=Φ(oθ PWL ,oβ PWL ,oθ PWR ,oβ PWR )

[0039] Calculate the three-dimensional spatial coordinates oB(x) of the second marker point. oB ,y oB ,z oB ):

[0040] oB(x oB ,y oB ,z oB )=Φ(oθ PKL ,oβ PKL ,oθ PKR ,oβ PKR )

[0041] Calculate the vector formed by the first marker point pointing to the second marker point in the initial state. azimuth and elevation angle

[0042]

[0043] Furthermore, the azimuth and elevation data collected in step 7 include three sets:

[0044] First set of data:

[0045] First marker observation: (cθ) PWL1 ,cβ PWL1 ,cθ PWR1 ,cβ PWR1 )

[0046] Second marker observation: (cθ) PKL1 ,cβ PKL1 ,cθ PKR1 ,cβ PKR1 )

[0047] Second set of data:

[0048] First marker observation: (cθ) PWL2 ,cβ PWL2 ,cθ PWR2 ,cβ PWR2 )

[0049] Second marker observation: (cθ) PKL2 ,cβ PKL2 ,cθ PKR2 ,cβ PKR2 )

[0050] Third set of data:

[0051] First marker observation: (cθ) PWL3 ,cβ PWL3 ,cθ PWR3 ,cβ PWR3 )

[0052] Second marker observation: (cθ) PKL3 ,cβ PKL3 ,cθ PKR3 ,cβ PKR3 )

[0053] Where, cθ PWLi For the azimuth angle of the first marker point measured by the first total station in the i-th data set after artillery adjustment, cβ PWLi For the elevation angle cθ of the first marker point measured by the first total station in the i-th set of data after artillery adjustment, PWRi For the azimuth angle of the first marker point measured by the second total station in the i-th set of data after artillery adjustment, cβ PWRi For the elevation angle cθ of the first marker point measured by the second total station in the i-th set of data after artillery adjustment, PKLi For the azimuth angle of the second marker point measured by the first total station in the i-th data set after artillery adjustment, cβ PKLi For the elevation angle cθ of the second marker point measured by the first total station in the i-th data set after artillery adjustment, PKRi cβ is the azimuth angle of the second marker point measured by the second total station in the i-th set of data after artillery adjustment. PKRi The elevation angle of the second marker point is measured by the second total station in the i-th set of data after the artillery adjustment, where i = 1, 2, 3.

[0054] Furthermore, the calculation process in step 8 includes:

[0055] Step 81: Calculate the three-dimensional spatial coordinates cA1(x) of the three sets of data for the first marker point. cA1 ,y cA1 ,z cA1 ), cA2(x cA2 ,y cA2 ,z cA2) and cA3(x cA3 ,y cA3 ,z cA3 ):

[0056] cA1(x cA1 ,y cA1 ,z cA1 )=Φ(cθ PWL1 ,cβ PWL1 ,cθ PWR1 ,cβ PWR1 )

[0057] cA2(x cA2 ,y cA2 ,z cA2 )=Φ(cθ PWL2 ,cβ PWL2 ,cθ PWR2 ,cβ PWR2 )

[0058] cA3(x cA3 ,y cA3 ,z cA3 )=Φ(cθ PWL3 ,cβ PWL3 ,cθ PWR3 ,cβ PWR3 )

[0059] Step 82: Calculate the three-dimensional spatial coordinates cB1(x) of the three sets of data for the second marker point. cB1 ,y cB1 ,z cB1 ), cB2(x cB2 ,y cB2 ,z cB2 ) and cB3(x cB3 ,y cB3 ,z cB3 ):

[0060] cB1(x cB1 ,y cB1 ,z cB1 )=Φ(cθ PKL1 ,cβ PKL1 ,cθ PKR1 ,cβ PKR1 )

[0061] cB2(x cB2 ,y cB2 ,z cB2 )=Φ(cθ PKL2 ,cβ PKL2 ,cθ PKR2 ,cβ PKR2 )

[0062] cB3(xcB3 ,y cB3 ,z cB3 )=Φ(cθ PKL3 ,cβ PKL3 ,cθ PKR3 ,cβ PKR3 )

[0063] Step 83: Using the three-dimensional spatial coordinate data of the first and second marker points, calculate the vector formed by the first marker point pointing to the second marker point after the artillery adjustment. azimuth and elevation angle

[0064]

[0065]

[0066]

[0067]

[0068]

[0069] Step 84: Calculate the vector formed by the first marker point pointing to the second marker point in the initial state. The vector formed by the first marker point after the artillery adjustment pointing to the second marker point Direction angle change and elevation angle change

[0070]

[0071] Furthermore, the formulas for calculating the azimuth angle cθ and elevation angle cβ of the gun barrel center axis after changing the azimuth angle in step 9 are as follows:

[0072]

[0073] Where, oθ YB To determine the azimuth angle of the gun barrel's central axis in its initial state, measured using a total station, oβ YB The elevation angle of the gun barrel's central axis, measured by the total station in the north, is shown in the initial state.

[0074] Furthermore, in step 9, the azimuth deviation angle θ of the artillery is calculated. PP Gun aiming box deviation angle θ MXP And the gun sight deviation angle θ JP The method specifically includes the following steps:

[0075] Step 91: Calculate the vector oZX(x) of the gun barrel's central axis in the initial state. ozx ,y ozx ,z ozx ):

[0076]

[0077] Where, oθ HP Let β be the azimuth angle measured by the artillery inertial navigation system in the initial state. HP The elevation angle measured by the artillery's inertial navigation system in the initial state;

[0078] Step 92: Calculate the vector nZX(x) of the gun axis of the gun's inertial navigation system after the gun adjustment. nzx ,y nzx ,z nzx ):

[0079]

[0080] Where, cθ HP The azimuth angle measured by the inertial navigation system of the artillery after adjustment;

[0081] Step 93: Calculate the vector cZX(x) of the central axis of the gun barrel after adjustment. czx ,y czx ,z czx ):

[0082]

[0083] Step 94: Calculate the azimuth deviation angle θ of the artillery. PP Gun aiming line deviation angle θ MXP And the gun sight deviation angle θ JP :

[0084]

[0085] Where, oθ PMJ cθ is the initial reading of the gun sight. PMJ Adjust the readings of the gun sight after the artillery has been adjusted.

[0086] Furthermore, the formulas for calculating the three-dimensional spatial coordinates in steps 5 and 8 are as follows:

[0087]

[0088] Furthermore, in steps 5 and 8, the vector is calculated. azimuth and elevation angle The calculation function is Specific calculation methods include:

[0089] Step a1: Calculate the vector The three-dimensional spatial representation value (x) AB ,y AB ,z AB )

[0090]

[0091] Among them, (x A ,y A ,z A (x) represents the three-dimensional spatial coordinates of the first marker point. B ,y B ,z B () represents the three-dimensional spatial coordinates of the second marker point;

[0092] Step a2: Calculate the azimuth angle

[0093]

[0094] Step a3: Calculate the elevation angle

[0095]

[0096] Step a4: Based on the formula for converting angles from radians to mils:

[0097] α=f -1 (θ) = θ·750.0 / arctan(1.0)

[0098] Where θ is the radian value and α is the converted mil value;

[0099] Will and Convert to mil representation:

[0100]

[0101] Furthermore, the northward calibration of the artillery in step 1 includes the following steps:

[0102] Step 11: Insert elastic sleeves into the muzzle and breech of the artillery barrel, and set up a north-pointing total station between the geodetic vehicle and the artillery vehicle.

[0103] Step 12: Perform penetration aiming on the artillery, and adjust the position and attitude of the muzzle and the tripod of the total station to ensure that the center points of the two elastic sleeves at the muzzle and breech can be seen simultaneously through the eyepiece of the total station.

[0104] Step 13: Aim the north-direction total station at the wave wheel prism of the geodetic vehicle, and correct the reading of the north-direction total station so that the north direction of the north-direction total station and the geodetic vehicle are aligned.

[0105] Step 14: Use the total station to aim at the gun again. Based on the current readings of the total station and the azimuth angle readings of the gun's inertial navigation system, correct the north-seeking direction of the gun's inertial navigation system to complete the north-seeking calibration of the gun.

[0106] Compared with the prior art, the present invention, by adopting the above technical solution, has the following advantages:

[0107] This invention utilizes existing equipment to achieve aiming verification of artillery, saving resources. The verification and measurement process is simple, convenient, efficient, and accurate. The verification process does not require high-level national leveling points and has low requirements for the site environment, enabling weapon platform verification in field environments.

[0108] This invention utilizes two total stations to construct a spatial rectangular coordinate system. By measuring two marker points, the orientation angle and elevation angle of the two total stations relative to the two marker points are obtained. Then, using the forward intersection principle, the spatial coordinates of the marker points are calculated. Using the vector rotation calculation formula, the change in the gun axis before and after gun adjustment is calculated, thereby determining the gun adjustment accuracy and the gun aiming offset.

[0109] When the elevation angle of the artillery changes, this invention calculates the gun deflection by calculating the directional angle offset of the artillery's central axis; by calculating the angle between the plane containing the central axis when the elevation changes and the vertical plane containing the central axis when the elevation angle is zero, the offset of the artillery aiming line is calculated; when the elevation angle of the artillery changes, the difference between the deviation of the aiming scope reading and the gun deflection is the artillery aiming scope offset.

[0110] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0111] Figure 1 This is a schematic diagram of the total station setup according to the present invention. Detailed Implementation

[0112] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0113] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0114] I. Fully Automatic Shot Adjustment Accuracy Verification

[0115] The accuracy of fully automatic gun adjustment mainly involves measuring the azimuth and elevation angle errors present in the automatic gun adjustment. While the elevation angle error can be accurately measured directly using a quadrant, the measurement of the azimuth angle error is more complex. This application employs a relative measurement method, utilizing three-dimensional spatial geometry principles to measure the relative rotation angle of the gun adjustment, and then calculates the accuracy of the automatic gun adjustment.

[0116] Convention: In all measurements, the unit of angle is the mil.

[0117] Step 1: Finding North with the Geodetic Vehicle. Finding North includes the following steps:

[0118] Step 2: For artillery aiming through the gun, record the variable ifCM. When aiming through the gun from the breech to the muzzle, ifCM = 1; when aiming through the gun from the muzzle to the breech, ifCM = 0.

[0119] Step 3: Use the north-guiding total station to guide northwards;

[0120] Steps one through three specifically include the following steps:

[0121] Step 11: Set up the geodetic vehicle, the north-direction total station, and the artillery, and position the north-direction total station between the artillery and the geodetic vehicle;

[0122] Step 12: Use a geodesic vehicle to find north and measure the high-precision north direction angle;

[0123] Step 13: Aim the total station at the wave wheel prism of the geodetic vehicle to correct the north direction angle of the total station.

[0124] Step 14: Align the observation center axis of the total station with the center axis of the gun barrel, and record the current azimuth angle of the gun's center axis;

[0125] Step 15: Compare the direction angle of the artillery center axis obtained by the total station with the direction angle of the artillery center axis obtained by the artillery inertial navigation system, and correct the artillery inertial navigation system based on the difference between the two.

[0126] Step Four: As Figure 1 As shown, affix labels and set up the total station. Record the elevation angle β between the "left station" and "right station" positions of the total station. JX ;

[0127] After setting up the total station, construct a three-dimensional coordinate system with the "left station" total station as the origin. In the horizontal plane, the horizontal direction from the "left station" total station to the "right station" total station is the X-axis, the direction perpendicular to the X-axis and pointing towards the artillery is the Y-axis, and the direction perpendicular to the X and Y axes and upward is the Z-axis.

[0128] Step 5: Record the initial values.

[0129] Initial values ​​for artillery inertial navigation measurement: azimuth angle oθ HP High and low angles oβ HP ;

[0130] Total station observation results: azimuth angle oθ YB High and low angles oβ YB ;

[0131] When ifCM=0, the observation results of the total station in the north are corrected:

[0132] Labeling point measurement results:

[0133] The measurement results of the marking points are recorded as follows: (left station observation direction angle, left station observation elevation angle, right station observation azimuth angle, right station observation elevation angle)

[0134] First set of data:

[0135] Observation value of the breech marker: (oθ) PWL1 ,oβ PWL1 ,oθ PWR1 ,oβ PWR1 );

[0136] Muzzle marking observations: (oθ) PKL1 ,oβ PKL1 ,oθ PKR1 ,oβ PKR1 );

[0137] Second set of data:

[0138] Observation value of the breech marker: (oθ) PWL2 ,oβ PWL2 ,oθ PWR2 ,oβ PWR2 )

[0139] Muzzle marking observations: (oθ) PKL2 ,oβ PKL2 ,oθ PKR2 ,oβ PKR2 )

[0140] Second set of data:

[0141] Observation value of the breech marker: (oθ) PWL3 ,oβ PWL3 ,oθ PWR3 ,oβ PWR3 )

[0142] Muzzle marking observations: (oθ) PKL3 ,oβ PKL3 ,oθ PKR3 ,oβ PKR3 )

[0143] Calculate the average values ​​of the measurements taken at the muzzle and breech markings:

[0144] Punctuation marks on the breech:

[0145] Markings on the muzzle:

[0146] Calculate the vector formed by the breech marker pointing to the muzzle marker in the initial state. Direction angle and elevation angle The specific calculation process is as follows:

[0147] ① Calculate the three-dimensional spatial coordinates oA(x) of the breech marker. oA ,y oA ,z oA ):

[0148] oA(x oA ,y oA ,z oA )=Φ(oθ PWL ,oβ PWL ,oθ PWR ,oβ PWR )

[0149] ② Calculate the three-dimensional spatial coordinates oB(x) of the muzzle marker. oB ,y oB ,z oB ):

[0150] oB(x oB ,y oB ,z oB )=Φ(oθ PKL ,oβ PKL ,oθ PKR ,oβ PKR )

[0151] ③ Calculate the vector formed by the two punctuation points. azimuth and elevation angle

[0152]

[0153] Step Six: Perform multi-directional measurements and record the artillery inertial navigation readings and measurement results after the azimuth angle changes.

[0154] Artillery inertial navigation readings: azimuth angle cθ HP elevation angle cβ HP ;

[0155] Labeling point measurement results:

[0156] The measurement results of the marking points are recorded as follows: (left station observation direction angle, left station observation elevation angle, right station observation azimuth angle, right station observation elevation angle)

[0157] First set of data:

[0158] Observation values ​​of the breech marker: (cθ) PWL1 ,cβ PWL1 ,cθ PWR1 ,cβ PWR1 )

[0159] Muzzle marking observations: (cθ) PKL1 ,cβ PKL1 ,cθ PKR1 ,cβ PKR1 )

[0160] Second set of data:

[0161] Observation values ​​of the breech marker: (cθ) PWL2 ,cβ PWL2 ,cθ PWR2 ,cβ PWR2 )

[0162] Muzzle marking observations: (cθ) PKL2 ,cβ PKL2 ,cθ PKR2 ,cβ PKR2 )

[0163] Third set of data:

[0164] Observation values ​​of the breech marker: (cθ) PWL3 ,cβ PWL3 ,cθ PWR3 ,cβ PWR3 )

[0165] Muzzle marking observations: (cθ) PKL3 ,cβ PKL3 ,cθ PKR3 ,cβ PKR3 )

[0166] Calculate the vector formed by the two current labeling points. Direction angle and elevation angle The calculations for the three sets of observation data are as follows:

[0167] ① Calculate the three-dimensional spatial coordinates cA1(x) of the breech marker. cA1 ,y cA1 ,z cA1 ), cA2(x cA2 ,y cA2 ,z cA2 ), cA3(x cA3,y cA3 ,z cA3 ):

[0168] cA1(x cA1 ,y cA1 ,z cA1 )=Φ(cθ PWL1 ,cβ PWL1 ,cθ PWR1 ,cβ PWR1 )

[0169] cA2(x cA2 ,y cA2 ,z cA2 )=Φ(cθ PWL2 ,cβ PWL2 ,cθ PWR2 ,cβ PWR2 )

[0170] cA3(x cA3 ,y cA3 ,z cA3 )=Φ(cθ PWL3 ,cβ PWL3 ,cθ PWR3 ,cβ PWR3 )

[0171] ②The average temperature of the fluid is the same as that of cB1(x cB1 ,y cB1 ,z cB1 )、cB2(x cB2 ,y cB2 ,z cB2 )、cB3(x cB3 ,y cB3 ,z cB3 ):

[0172] cB1(x cB1 ,y cB1 ,z cB1 )=Φ(cθ PKL1 ,cβ PKL1 ,cθ PKR1 ,cβ PKR1 )

[0173] cB2(x cB2 ,y cB2 ,z cB2 )=Φ(cθ PKL2 ,cβ PKL2 ,cθ PKR2 ,cβ PKR2 )

[0174] cB3(x cB3 ,y cB3 ,zcB3 )=Φ(cθ PKL3 ,cβ PKL3 ,cθ PKR3 ,cβ PKR3 )

[0175] ③ Calculate the vector formed by the two punctuation points. azimuth and elevation angle

[0176]

[0177]

[0178]

[0179]

[0180]

[0181] ④ Calculate vectors Change in orientation angle relative to the initial state and elevation angle change

[0182]

[0183] Step 7: Calculate the azimuth angle cθ and elevation angle cβ obtained from the measurement of the gun barrel's central axis vector.

[0184]

[0185] Repeat steps six and seven, adjusting the gun barrel axis multiple times to obtain multiple sets of gun adjustment test data.

[0186] II. Aiming Line Offset Verification

[0187] Aiming line offset detection primarily measures gun deviation, aiming line offset, and sight offset caused by trunnion wear, repairs, barrel collisions, etc. The basic principle is: when the gun has no deviation, its central axis moves in a vertical plane; when gun deviation occurs, the central axis moves within a fixed inclined plane. When the gun's elevation angle changes, the gun deviation is calculated by determining the angular offset of the central axis; the aiming line offset is calculated by measuring the angle between the plane containing the central axis during elevation changes and the vertical plane containing the central axis at zero elevation; the difference between the sight reading deviation and the gun deviation during elevation changes is the sight offset.

[0188] Step 1: As Figure 1As shown, affix labels and set up the total station. Record the elevation angle β between the "left station" and "right station" positions of the total station. JX ;

[0189] After setting up the total station, construct a three-dimensional coordinate system with the "left station" total station as the origin. In the horizontal plane, the horizontal direction from the "left station" total station to the "right station" total station is the X-axis, the direction perpendicular to the X-axis and pointing towards the artillery is the Y-axis, and the direction perpendicular to the X and Y axes and upward is the Z-axis.

[0190] Step 2: Zero elevation angle reference measurement.

[0191] Record the initial inertial navigation direction angle reading of the gun: oθ HP At this point, the elevation angle reading of the artillery inertial navigation system is 0, i.e., oβ HP =0;

[0192] Record the gun sight reading: oθ PMJ ;

[0193] Labeling point measurement results:

[0194] The measurement results of the marking points are recorded as follows: (left station observation direction angle, left station observation elevation angle, right station observation azimuth angle, right station observation elevation angle)

[0195] First set of data:

[0196] Observation value of the breech marker: (oθ) PWL1 ,oβ PWL1 ,oθ PWR1 ,oβ PWR1 );

[0197] Muzzle marking observations: (oθ) PKL1 ,oβ PKL1 ,oθ PKR1 ,oβ PKR1 );

[0198] Second set of data:

[0199] Observation value of the breech marker: (oθ) PWL2 ,oβ PWL2 ,oθ PWR2 ,oβ PWR2 )

[0200] Muzzle marking observations: (oθ) PKL2 ,oβ PKL2 ,oθ PKR2 ,oβ PKR2 )

[0201] Second set of data:

[0202] Observation value of the breech marker: (oθ) PWL3 ,oβPWL3 ,oθ PWR3 ,oβ PWR3 )

[0203] Muzzle marking observations: (oθ) PKL3 ,oβ PKL3 ,oθ PKR3 ,oβ PKR3 )

[0204] Calculate the average values ​​of the measurements taken at the muzzle and breech markings:

[0205] Punctuation marks on the breech:

[0206] Markings on the muzzle:

[0207] Calculate the vector formed by the breech marker pointing to the muzzle marker in the initial state. Direction angle and elevation angle The specific calculation process is as follows:

[0208] ① Calculate the three-dimensional spatial coordinates oA(x) of the breech marker. oA ,y oA ,z oA )

[0209] oA(x oA ,y oA ,z oA )=Φ(oθ PWL ,oβ PWL ,oθ PWR ,oβ PWR )

[0210] ② Calculate the three-dimensional spatial coordinates oB(x) of the muzzle marker. oB ,y oB ,z oB )

[0211] oB(x oB ,y oB ,z oB )=Φ(oθ PKL ,oβ PKL ,oθ PKR ,oβ PKR )

[0212] ③ Calculate the vector formed by the two punctuation points. azimuth and elevation angle

[0213]

[0214] Step 3: Measure multiple elevation angles.

[0215] Artillery inertial navigation readings: azimuth angle cθ HP elevation angle cβ HP ;

[0216] Gun sight reading: cθ PMJ ;

[0217] Labeling point measurement results:

[0218] The measurement results of the marking points are recorded as follows: (left station observation direction angle, left station observation elevation angle, right station observation azimuth angle, right station observation elevation angle)

[0219] First set of data:

[0220] Observation values ​​of the breech marker: (cθ) PWL1 ,cβ PWL1 ,cθ PWR1 ,cβ PWR1 )

[0221] Muzzle marking observations: (cθ) PKL1 ,cβ PKL1 ,cθ PKR1 ,cβ PKR1 )

[0222] Second set of data:

[0223] Observation values ​​of the breech marker: (cθ) PWL2 ,cβ PWL2 ,cθ PWR2 ,cβ PWR2 )

[0224] Muzzle marking observations: (cθ) PKL2 ,cβ PKL2 ,cθ PKR2 ,cβ PKR2 )

[0225] Third set of data:

[0226] Observation values ​​of the breech marker: (cθ) PWL3 ,cβ PWL3 ,cθ PWR3 ,cβ PWR3 )

[0227] Muzzle marking observations: (cθ) PKL3 ,cβ PKL3 ,cθ PKR3 ,cβ PKR3 )

[0228] Calculate the vector formed by the two current labeling points. Direction angle and elevation angle The calculations for the three sets of observation data are as follows:

[0229] ① Calculate the three-dimensional spatial coordinates cA1(x) of the breech marker. cA1 ,y cA1 ,z cA1 ), cA2(x cA2 ,y cA2 ,z cA2 ), cA3(x cA3 ,y cA3 ,z cA3 ):

[0230] cA1(x cA1 ,y cA1 ,z cA1 )=Φ(cθ PWL1 ,cβ PWL1 ,cθ PWR1 ,cβ PWR1 )

[0231] cA2(x cA2 ,y cA2 ,z cA2 )=Φ(cθ PWL2 ,cβ PWL2 ,cθ PWR2 ,cβ PWR2 )

[0232] cA3(x cA3 ,y cA3 ,z cA3 )=Φ(cθ PWL3 ,cβ PWL3 ,cθ PWR3 ,cβ PWR3 )

[0233] ② Calculate the three-dimensional spatial coordinates cB1(x) of the muzzle marker. cB1 ,y cB1 ,z cB1 ), cB2(x cB2 ,y cB2 ,z cB2 ), cB3(x cB3 ,y cB3 ,z cB3 ):

[0234] cB1(x cB1 ,y cB1 ,z cB1 )=Φ(cθ PKL1 ,cβ PKL1 ,cθ PKR1 ,cβ PKR1 )

[0235] cB2(x cB2 ,y cB2 ,z cB2 )=Φ(cθ PKL2 ,cβ PKL2 ,cθ PKR2 ,cβ PKR2 )

[0236] cB3(x cB3 ,y cB3 ,z cB3 )=Φ(cθ PKL3 ,cβ PKL3 ,cθ PKR3 ,cβ PKR3 )

[0237] ③ Calculate the vector formed by the two punctuation points. azimuth and elevation angle

[0238]

[0239]

[0240]

[0241]

[0242]

[0243] ④ Calculate vectors Change in orientation angle relative to the initial state and elevation angle change

[0244]

[0245] Step 4: Calculate the shot deviation θ PP Aiming line deflection θ MXP and scope deviation θ JP .

[0246] ① Calculate the initial vector oZX(x) of the gun barrel axis center of the artillery. ozx ,y ozx ,z ozx ):

[0247]

[0248] ② Considering the change in the direction angle of the gun barrel's central axis during the gun adjustment process, calculate the center vector nZX(x) of the reference gun axis after the adjustment. nzx ,y nzx ,z nzx):

[0249]

[0250] ③ Calculate the vector cZX(x) of the central axis of the gun barrel after adjustment. czx ,y czx ,z czx ):

[0251]

[0252] ④ Calculate the shot deviation (azimuth angle) θ PP Aiming line deviation (gun aiming line deviation angle) θ MXP And the sight deviation (gun sight deviation angle) θ JP :

[0253]

[0254] Repeat steps three and four, adjusting the gun barrel axis multiple times to obtain multiple sets of gun adjustment test data.

[0255] III. Key Calculation Function Formulas

[0256] Formulas used for fully automatic gun adjustment accuracy detection and aiming line deviation detection:

[0257] ① The formula for converting angles from mils to radians is:

[0258] θ=f(α)=α·arctan(1.0) / 750.0

[0259] Where α is the mil value and θ is the converted radian value.

[0260] ② Convert the angle from radians to mils using the following formula:

[0261] α=f -1 (θ) = θ·750.0 / arctan(1.0)

[0262] Where θ is the radian value and α is the converted mil value.

[0263] ③ Formula for calculating the three-dimensional coordinates of the labeling point:

[0264] Construct a three-dimensional coordinate system with the "left station" total station as the origin. In the horizontal plane, the horizontal direction from the "left station" total station to the "right station" total station is the X-axis, the direction perpendicular to the X-axis and pointing towards the artillery is the Y-axis, and the direction perpendicular to the X and Y axes and upward is the Z-axis.

[0265] Given two stations, "left station" and "right station", the marker point on the artillery is A.

[0266] Assume the elevation angle between the "left station" and the "right station" is β;

[0267] Assume the azimuth angle of point A measured by the "left station" is θ. l The elevation angle of point A measured from the "left station" is β. l The azimuth angle of point A measured from the "right station" is θ. r The elevation angle of point A measured from the "right station" is β. r .

[0268] The formula for calculating the coordinates of point A in the constructed three-dimensional coordinate system is (x... A ,y A ,z A )=Φ(θ l ,β l ,θ r ,β r The specific calculation process is as follows:

[0269] Step 1: Convert all angles to radians:

[0270]

[0271] Step 2: Calculate spatial coordinates:

[0272]

[0273] ④ Calculate the azimuth and elevation angles of the vector formed by two points in three-dimensional space.

[0274] Suppose two points in three-dimensional space are A(x) A ,y A ,z A ) and B(x B ,y B ,z B ),vector Azimuth angle is elevation angle is The calculation function is The specific calculation process is as follows:

[0275] Step 1: Calculate the vector The three-dimensional spatial representation value (x) AB ,y AB ,z AB ):

[0276]

[0277] Step 2: Calculation

[0278]

[0279] Step 3: Calculation

[0280]

[0281] Step 4: [The text appears to be incomplete and contains several grammatical errors. A more accurate translation would require the full context.] and Convert to mil representation

[0282]

[0283] ⑤ Calculate the angle between the surfaces. Assume there is a vector A(x) A ,y A ,z A ) and vector B(x B ,y B ,z B The perpendicular plane containing vector A is Pl. A The plane formed by vectors A and B is Pl. AB Calculate plane Pl A and Pl AB The included angle pθ is calculated using the following formula:

[0284]

[0285] Example 1:

[0286] Fully automatic gun adjustment accuracy detection

[0287] 1. Measurement data under initial conditions:

[0288]

[0289] Measurement data of the first marker point:

[0290]

[0291] Measurement data for the second marker point:

[0292]

[0293] 2. Measurement data after artillery adjustment:

[0294]

[0295] Measurement data of the first marker point:

[0296]

[0297] Measurement data for the second marker point:

[0298]

[0299]

[0300] The result calculated using this invention:

[0301] Direction angle 5113.926715 Elevation angle 172.6746017

[0302] Example 2:

[0303] Aiming line offset detection

[0304] 1. Measurement data under the initial state (i.e., zero elevation angle):

[0305]

[0306] Measurement data of the first marker point:

[0307]

[0308] Measurement data for the second marker point:

[0309]

[0310] 2. Measurement data after artillery adjustment (i.e., after changing the elevation angle):

[0311]

[0312]

[0313] Measurement data of the first marker point:

[0314]

[0315] Measurement data for the second marker point:

[0316]

[0317] The result calculated using this invention:

[0318] Azimuth deviation angle Gun aiming line deviation angle Gun sight deviation angle 2.775 -3.03 8.67

[0319] The above description provides examples of the preferred embodiments of the present invention. Parts not detailed herein are common knowledge to those skilled in the art. The scope of protection of the present invention is determined by the claims. Any equivalent modifications based on the technical teachings of the present invention are also within the scope of protection of the present invention.

Claims

1. A method for verifying the accuracy of artillery, characterized in that, Includes the following steps: Step 1: Perform northward calibration on the artillery, and take the artillery after northward calibration as the initial state. If automatic gun adjustment accuracy verification is performed, record the azimuth and elevation angles measured by the artillery inertial navigation system in the initial state, and record the azimuth and elevation angles of the artillery barrel center axis measured by the northward total station in the initial state. If aiming line offset verification is performed, record the azimuth and elevation angles measured by the artillery inertial navigation system in the initial state, as well as the reading of the gun sight. Step 2: Attach the first and second markers to the breech and muzzle of the cannon on one side of the cannon barrel, respectively. The line connecting the centers of the first and second markers is parallel to the central axis of the cannon barrel. Step 3: Set up the first total station and the second total station on the rear and front sides of the gun barrel, respectively, and the first total station and the second total station are located on the same side of the gun barrel where the first and second marking points are set. Step 4: Use the first total station and the second total station to collect multiple sets of azimuth and elevation angle data of the first and second marker points in the initial state of the artillery, and calculate the average of the azimuth and elevation angle data of the first and second marker points collected by the first and second total stations. Step 5: Calculate the direction angle and elevation angle of the vector formed by the first marker point pointing to the second marker point using the data obtained in Step 4; Step 6: If Step 1 is to perform automatic gun adjustment accuracy verification, then change the azimuth angle of the gun and record the azimuth angle and elevation angle measured by the gun inertial navigation system after the azimuth angle is changed; if Step 1 is to perform aiming line offset verification, then change the elevation angle of the gun and record the azimuth angle and elevation angle measured by the gun inertial navigation system after the elevation angle is changed, as well as the current gun sight reading. Step 7: Use the first total station and the second total station to collect multiple sets of azimuth and elevation data of the first and second marker points after the azimuth or elevation angle of the artillery is changed; Step 8: Using the data obtained in Step 7, calculate the mean value of the direction angle and the mean value of the elevation angle of the vector formed by the first marker point pointing to the second marker point, and calculate the changes in the direction angle and elevation angle relative to the initial state. Step 9: If step 1 is to perform automatic gun adjustment accuracy verification, then calculate the azimuth angle and elevation angle of the gun barrel center axis after the azimuth angle is changed based on the change of the vector. If step 1 is to perform aiming line offset verification, then calculate the azimuth deviation angle, aiming line deviation angle, and aiming scope deviation angle of the gun based on the change in the vector. Step 10: Repeat steps 4 to 9. If step 1 is to perform automatic gun adjustment accuracy verification, multiple sets of gun barrel center axis data for azimuth and elevation angles after changing azimuth angle are obtained. If step 1 is to perform aiming line offset verification, multiple sets of gun azimuth deviation angle, gun aiming line deviation angle and gun aiming scope deviation angle are obtained, with gun aiming deviation values ​​at different elevation angles.

2. The artillery accuracy verification method according to claim 1, characterized in that, The azimuth and elevation data collected in step 4 include three sets: First set of data: First marker observation: (oθ) PWL1 ,oβ PWL1 ,oθ PWR1 ,oβ PWR1 ) Second marker observation: (oθ) PKL1 ,oβ PKL1 ,oθ PKR1 ,oβ PKR1 ) Second set of data: First marker observation: (oθ) PWL2 ,oβ PWL2 ,oθ PWR2 ,oβ PWR2 ) Second marker observation: (oθ) PKL2 ,oβ PKL2 ,oθ PKR2 ,oβ PKR2 ) Third set of data: First marker observation: (oθ) PWL3 ,oβ PWL3 ,oθ PWR3 ,oβ PWR3 ) Second marker observation: (oθ) PKL3 ,oβ PKL3 ,oθ PKR3 ,oβ PKR3 ) Where, oθ PWLi Let β be the azimuth angle of the first marker point measured by the first total station in the i-th data set under the initial state. PWLi Let θ be the elevation angle of the first marker point measured by the first total station in the i-th data set under the initial state. PWRi Let β be the azimuth angle of the first marker point measured by the second total station in the i-th data set under the initial state. PWRi Let θ be the elevation angle of the first marker point measured by the second total station in the i-th data set under the initial state. PKLi Let β be the azimuth angle of the second marker point measured by the first total station in the i-th data set under the initial state. PKLi Let θ be the elevation angle of the second marker point measured by the first total station in the i-th data set under the initial state. PKRi Let β be the azimuth angle of the second marker point measured by the second total station in the i-th data set under the initial state. PKRi Let i be the elevation angle of the second marker point measured by the second total station in the i-th data set under the initial state, where i = 1, 2, 3; Calculation of the mean of the measurement data of the first and second marker points: First marker point: Second marker point: Where, oθ PWL oβ is the mean azimuth angle of the first marker point measured by the first total station in the initial state. PWL Let θ be the average elevation angle of the first marker point measured by the first total station in the initial state. PWR oβ is the mean azimuth angle of the first marker point measured by the second total station in the initial state. PWR The mean elevation angle of the first marker point measured by the second total station in the initial state is θ. PKL oβ is the mean azimuth angle of the second marker point measured by the first total station in the initial state. PKL Let θ be the average elevation angle of the second marker point measured by the first total station in the initial state. PKR oβ is the mean azimuth angle of the second marker point measured by the second total station in the initial state. PKR The average elevation angle of the second marker point measured by the second total station in the initial state.

3. The artillery accuracy verification method according to claim 2, characterized in that, Step 5 specifically includes the following steps: Calculate the three-dimensional spatial coordinates oA(x) of the first marker point. oA ,y oA ,z oA ): oA(x oA ,y oA ,z oA )=Φ(oθ PWL ,ob PWL ,oh PWR ,ob PWR ) Calculate the three-dimensional spatial coordinates oB(x) of the second marker point. oB ,y oB ,z oB ): oB(x oB ,y oB ,z oB )=Φ(oθ PKL ,ob PKL ,oh PKR ,ob PKR ) Calculate the vector formed by the first marker point pointing to the second marker point in the initial state. azimuth and elevation angle 4. The artillery accuracy verification method according to claim 1, characterized in that, The azimuth and elevation data collected in step 7 include three sets: First set of data: First marker observation: (cθ) PWL1 ,cβ PWL1 ,cθ PWR1 ,cβ PWR1 ) Second marker observation: (cθ) PKL1 ,cβ PKL1 ,cθ PKR1 ,cβ PKR1 ) Second set of data: First marker observation: (cθ) PWL2 ,cβ PWL2 ,cθ PWR2 ,cβ PWR2 ) Second marker observation: (cθ) PKL2 ,cβ PKL2 ,cθ PKR2 ,cβ PKR2 ) Third set of data: First marker observation: (cθ) PWL3 ,cβ PWL3 ,cθ PWR3 ,cβ PWR3 ) Second marker observation: (cθ) PKL3 ,cβ PKL3 ,cθ PKR3 ,cβ PKR3 ) Where, cθ PWLi For the azimuth angle of the first marker point measured by the first total station in the i-th data set after artillery adjustment, cβ PWLi For the elevation angle cθ of the first marker point measured by the first total station in the i-th set of data after artillery adjustment, PWRi For the azimuth angle of the first marker point measured by the second total station in the i-th set of data after artillery adjustment, cβ PWRi For the elevation angle cθ of the first marker point measured by the second total station in the i-th set of data after artillery adjustment, PKLi For the azimuth angle of the second marker point measured by the first total station in the i-th data set after artillery adjustment, cβ PKLi For the elevation angle cθ of the second marker point measured by the first total station in the i-th data set after artillery adjustment,... PKRi cβ is the azimuth angle of the second marker point measured by the second total station in the i-th set of data after artillery adjustment. PKRi The elevation angle of the second marker point is measured by the second total station in the i-th set of data after the artillery adjustment, where i = 1, 2, 3.

5. The artillery accuracy verification method according to claim 4, characterized in that, The calculation process in step 8 includes: Step 81: Calculate the three-dimensional spatial coordinates cA1(x) of the three sets of data for the first marker point. cA1 ,y cA1 ,z cA1 ), cA2(x cA2 ,y cA2 ,z cA2 ) and cA3(x cA3 ,y cA3 ,z cA3 ): cA1(x cA1 ,y cA1 ,z cA1 )=Φ(cθ PWL1 ,cb PWL1 ,cth PWR1 ,cb PWR1 ) cA2(x cA2 ,y cA2 ,z cA2 )=Φ(cθ PWL2 ,cb PWL2 ,cth PWR2 ,cb PWR2 ) cA3(x cA3 ,y cA3 ,z cA3 )=Φ(cθ PWL3 ,cb PWL3 ,cth PWR3 ,cb PWR3 ) Step 82: Calculate the three-dimensional spatial coordinates cB1(x) of the three sets of data for the second marker point. cB1 ,y cB1 ,z cB1 ), cB2(x cB2 ,y cB2 ,z cB2 ) and cB3(x cB3 ,y cB3 ,z cB3 ): cB1(x cB1 ,y cB1 ,z cB1 )=Φ(cθ PKL1 ,cb PKL1 ,cth PKR1 ,cb PKR1 ) cB2(x cB2 ,y cB2 ,z cB2 )=Φ(cθ PKL2 ,cb PKL2 ,cth PKR2 ,cb PKR2 ) cB3(x cB3 ,y cB3 ,z cB3 )=Φ(cθ PKL3 ,cb PKL3 ,cth PKR3 ,cb PKR3 ) Step 83: Using the three-dimensional spatial coordinate data of the first and second marker points, calculate the vector formed by the first marker point pointing to the second marker point after the artillery adjustment. azimuth and elevation angle Step 84: Calculate the vector formed by the first marker point pointing to the second marker point in the initial state. The vector formed by the first marker point after the artillery adjustment pointing to the second marker point Direction angle change and elevation angle change 6. The artillery accuracy verification method according to claim 5, characterized in that, The formulas for calculating the azimuth angle cθ and elevation angle cβ of the gun barrel center axis after changing the azimuth angle in step 9 are as follows: Where, oθ YB To determine the azimuth angle of the gun barrel's central axis in its initial state, measured using a total station, oβ YB The elevation angle of the gun barrel's central axis, measured by the total station in the north, is shown in the initial state.

7. The artillery accuracy verification method according to claim 5, characterized in that, In step 9, the artillery azimuth deviation angle θ is calculated. PP Gun aiming box deviation angle θ MXP And the gun sight deviation angle θ JP The method specifically includes the following steps: Step 91: Calculate the vector oZX(x) of the gun barrel's central axis in the initial state. ozx ,y ozx ,z ozx ): Where, oθ HP Let β be the azimuth angle measured by the artillery inertial navigation system in the initial state. HP The elevation angle measured by the artillery's inertial navigation system in the initial state; Step 92: Calculate the vector nZX(x) of the gun axis of the gun's inertial navigation system after the gun adjustment. nzx ,y nzx ,z nzx ): Where, cθ HP The azimuth angle measured by the inertial navigation system of the artillery after adjustment; Step 93: Calculate the vector cZX(x) of the central axis of the gun barrel after adjustment. czx ,y czx ,z czx ): Step 94: Calculate the azimuth deviation angle θ of the artillery. PP Gun aiming line deviation angle θ MXP And the gun sight deviation angle θ JP : Where, oθ PMJ cθ is the initial reading of the gun sight. PMJ Adjust the readings of the gun sight after the artillery has been adjusted.

8. The artillery accuracy verification method according to claim 5, characterized in that, The formulas for calculating the three-dimensional spatial coordinates in steps 5 and 8 are as follows:

9. The artillery accuracy verification method according to claim 5, characterized in that, The vector calculation in steps 5 and 8 azimuth and elevation angle The calculation function is Specific calculation methods include: Step a1: Calculate the vector The three-dimensional spatial representation value (x) AB ,y AB ,z AB ) Among them, (x A ,y A ,z A (x) represents the three-dimensional spatial coordinates of the first marker point. B ,y B ,z B () represents the three-dimensional spatial coordinates of the second marker point; Step a2: Calculate the azimuth angle Step a3: Calculate the elevation angle Step a4: Based on the formula for converting angles from radians to mils: α=f -1 (θ)=θ·750.0 / arctan(1.0) Where θ is the radian value and α is the converted mil value; Will and Convert to mil representation:

10. The artillery accuracy verification method according to claim 1, characterized in that, The northward calibration of the artillery in step 1 includes the following steps: Step 11: Insert elastic sleeves into the muzzle and breech of the artillery barrel, and set up a north-direction total station between the geodetic vehicle and the artillery vehicle. Step 12: Perform penetration aiming on the artillery, and adjust the position and attitude of the muzzle and the tripod of the total station to ensure that the center points of the two elastic sleeves at the muzzle and breech can be seen simultaneously through the eyepiece of the total station. Step 13: Aim the north-direction total station at the wave wheel prism of the geodetic vehicle, and correct the reading of the north-direction total station so that the north direction of the north-direction total station and the geodetic vehicle are aligned. Step 14: Use the total station to aim at the gun again. Based on the current reading of the total station and the azimuth angle reading of the gun's inertial navigation system, correct the north-seeking direction of the gun's inertial navigation system to complete the north-seeking calibration of the gun.

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