Method and device for measuring installation accuracy of launching device and measuring installation platform

Abstract

The application aims to provide a launching device installation precision measurement method, device and measurement installation platform to solve the technical problems of complicated precision measurement process, low efficiency and poor precision in the prior art. The steps of the measurement method are as follows: measuring the deviation of the inertial navigation instrument installation surface relative to the ship reference platform by using the inertial navigation instrument, measuring the inertial navigation instrument installation surface and the launching device on the installation platform by using the laser tracker, obtaining the vertical error of the guide rail relative to the inertial navigation instrument installation surface, and calculating the vertical error of the guide rail relative to the ship reference platform; the measurement method is completed by a measurement device, and the measurement device comprises an installation platform, an inertial navigation instrument and a laser tracker; the installation platform comprises a support frame, the support frame is provided with an installation table, the installation table is provided with an inertial navigation instrument installation surface and a laser tracker installation surface, a positioning piece is arranged on the top of the installation table, the bottom surface of the positioning piece is arranged in the same plane with the inertial navigation instrument installation surface, and the end of the positioning piece extends to the outside of the installation table.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of measuring instruments, in particular to a mounting precision measurement method and device of a launching device and a mounting platform for measurement. BACKGROUND

[0002] With the rapid development of naval defense, in recent years, the updating of ships and shipborne weapons is increasingly rapid, and the launching device of the shipborne weapon in China has been installed and used on a large number of surface ships, so higher requirements are put forward for the installation precision and calibration efficiency of the launching device. The existing launching device is exposed outside the ship or installed in the launching well on the ship after being fixed, and the installation of the launching device needs to be completed when the ship is on the bottom or moored, and the installation precision and azimuth of the launching device need to be measured and calibrated in real time during the installation. The supporting instrument used in the installation process is a fixed laser collimator, which is fixed on the guide rail above the launching well and in the launching well, and the installation position and installation precision of the launching device are measured by the irradiation of the laser collimator and the switching of the target point. However, this measurement method cannot be dynamically measured in the subsequent detection process after the ship is launched, because the laser collimator needs to be fixed, so that the ship can only be fixed in the dock after the ship returns to the dock, and the subsequent measurement can be carried out after the ship is on the bottom, which is low in measurement efficiency and is not conducive to the iterative updating and maintenance of the ship launching device. At the same time, there will be angle deviation and error between the reference surface on which the laser collimator is installed and the ship reference platform, and the error value of the laser collimator compared with the ship reference platform cannot be measured, which will also cause a large error between the measurement parameters of the laser collimator and the actual parameters, affecting the installation precision of the launching device.

[0003] With the continuous innovation of the launching device, the measurement method for the installation precision and other parameters of the launching device is also constantly updated. In the prior art, there are measurement methods of moving position data parameters of equipment instruments by using laser trackers in cooperation with target robots, and inertial navigation systems for measuring deviation degrees in the fields of aviation and balance. However, if the above two instrument methods are used to measure the installation precision of the launching device on the ship, they cannot effectively and directly establish a reference coordinate, whether it is the scanning position of the laser tracker or the reference surface of the inertial navigation instrument, which cannot be connected with the reference plane of the ship. In the process of measurement and calculation, the measurement reference surface needs to be constantly established on the ship platform of the launching weapon, and there is no specific reference measurement position to be identified and compared in the whole measurement process. The single measurement instrument is also easily affected by human interference or operation, and the measurement efficiency is low, and accurate and reliable measurement data cannot be quickly provided. Therefore, there is an urgent need in the prior art to provide a measurement device with high precision, high measurement efficiency, various measurement methods, safety and stability, and reliable data. SUMMARY

[0004] The purpose of this invention is to provide a method for measuring the installation accuracy of a launching device, so as to solve the technical problems of cumbersome parameter measurement process, low measurement efficiency and poor measurement accuracy of the launching device in the prior art; the purpose of this invention is also to provide a device for measuring the installation accuracy of a launching device, so as to solve the above problems; in addition, the purpose of this invention is also to provide an installation platform for measuring the installation accuracy of a launching device, so as to integrate and install the measuring instruments in the measuring device.

[0005] To achieve the above objectives, the technical solution of the installation accuracy measurement method for the launching device provided by the present invention is as follows:

[0006] The method for measuring the installation accuracy of the launching device includes the following steps:

[0007] (1) Using the inertial navigation instrument mounted on the mounting surface of the inertial navigation instrument in the installation platform, the deviation of the mounting surface of the inertial navigation instrument relative to the horizontal plane of the earth is measured. Using the inertial navigation instrument mounted on the ship reference platform, the deviation of the ship reference platform relative to the horizontal plane of the earth is measured, so as to obtain the deviation of the mounting surface of the inertial navigation instrument relative to the ship reference platform.

[0008] (2) Use a laser tracker installed on the mounting platform to measure the coordinates of the inertial navigation instrument mounting surface on the mounting platform and the guide rail in the transmitting device to obtain the vertical error of the guide rail relative to the inertial navigation instrument mounting surface.

[0009] (3) Calculate the vertical error of the guide rail relative to the ship reference platform based on the results of steps (1) and (2).

[0010] Beneficial effects: through the inertial navigation instrument arranged on the installation platform and the inertial navigation instrument arranged on the ship reference platform, the two inertial navigation instruments cooperate with each other, so that the deviation of the installation platform inertial navigation instrument mounting surface relative to the ship reference platform can be measured, the measurement reference is determined, after the measurement reference is determined, the subsequent measurement of the launching device guide rail only needs to be compared and calculated with the measurement reference, so that the measurement is ensured to be rapid and the reference does not need to be determined for many times; through the laser tracker also arranged on the installation platform, the inertial navigation instrument mounting surface and the to-be-measured launching device can be measured, since the deviation value of the measurement reference surface relative to the ship reference is known, the vertical error of the guide rail of the to-be-measured launching device relative to the ship reference platform can be converted after the scanning coordinates of the launching device are compared with the scanning coordinates of the inertial navigation instrument mounting surface, the measurement process has a clear measurement reference and is not affected by human operation, and the measurement can be compared and measured after each scanning, compared with the measurement mode in the prior art, the measurement efficiency is low, and accurate and reliable measurement data cannot be provided rapidly, the launching device installation precision measurement method provided by the present application ensures the measurement precision and eliminates errors, can rapidly measure the installation precision of the to-be-measured launching device, and solves the technical problems of the complicated parameter measurement process, low measurement efficiency and poor measurement precision of the launching device in the prior art.

[0011] Preferably, in step (2), a temporary measurement reference surface fixed relative to the ship is established on the ship, and the inertial navigation instrument mounting surface of the installation platform and the temporary measurement reference surface are measured by the laser tracker to obtain the deviation of the temporary measurement reference surface relative to the inertial navigation instrument mounting surface, and the deviation of the temporary measurement reference surface relative to the ship reference platform is obtained in combination with step (1); when the installation platform is moved to measure other launching devices, the temporary measurement reference surface and the guide rail of the launching device are measured by the laser tracker to obtain the vertical error of the guide rail relative to the temporary measurement reference surface, and finally the vertical error of the guide rail relative to the ship reference platform is obtained. After the temporary measurement reference surface fixed relative to the ship is established on the ship, subsequent precision measurement of other launching devices only needs to compare and measure the scanning data of the laser tracker with the temporary measurement reference surface, thereby further saving measurement time and improving measurement efficiency.

[0012] Preferably, in step (2), after the deviation of the temporary measurement reference surface relative to the inertial navigation instrument mounting surface is obtained, the inertial navigation instruments on the installation platform and the ship reference platform are removed.

[0013] The technical scheme of the installation platform for measuring the installation precision of the launching device provided by the present application is:

[0014] The mounting platform for measuring the mounting precision of a launching device comprises a support frame for being fixed on a ship, a mounting table fixed on the support frame, a top of the mounting table being provided with an inertial navigation instrument mounting surface for fixing and mounting an inertial navigation instrument, a bottom of the mounting table being provided with a laser tracker mounting surface for fixing and mounting a laser tracker, and the top of the mounting table being further provided with a positioning member fixedly mounted thereon, a bottom surface of the positioning member being arranged in a coplanar manner with the inertial navigation instrument mounting surface, and end portions of the positioning member extending to the outside of the mounting table so that the laser tracker can indirectly obtain the coordinates of the inertial navigation instrument mounting surface by measuring the coordinates of the bottom surface of the positioning member.

[0015] The mounting platform for measuring the mounting precision of a launching device can integrate the inertial navigation instrument and the laser tracker together through the mounting table, and the bottom surface of the positioning member is arranged in a coplanar manner with the inertial navigation instrument mounting surface, so that the laser tracker and the inertial navigation instrument arranged in a spaced-apart manner can be connected, the coordinates of the inertial navigation instrument mounting surface can be quickly obtained, the precision parameters of the launching device can be calculated through the coordinates of the inertial navigation instrument mounting surface, the measurement efficiency and accuracy are ensured, the calculation has a clear reference value, and the calculation work is accurately and quickly performed.

[0016] Preferably, the positioning member comprises two parallel rulers, and the two ends of the two rulers extend to the outside of the mounting table. The two ends of the two parallel rulers extend out of the mounting table, thereby directly constituting the measurement end for the laser tracker to scan and calibrate, the laser tracker can quickly scan and determine the coordinate values of the inertial navigation instrument mounting surface according to the principle that three points determine a plane, the simple and convenient rulers facilitate the quick performance of the calculation work.

[0017] Preferably, the top of the mounting table is provided with an inertial navigation instrument mounting seat, and a top surface of the inertial navigation instrument mounting seat constitutes the inertial navigation instrument mounting surface. After the inertial navigation instrument mounting seat is arranged, only the top surface of the inertial navigation instrument mounting seat needs to be finished and measured, the error of the top surface of the mounting table does not affect the precision of the inertial navigation instrument mounting surface and the calculation result, the inertial navigation instrument mounting seat is convenient to install and replace, and is convenient for subsequent maintenance and disassembly.

[0018] Preferably, the bottom of the mounting table is provided with a laser tracker mounting seat, and a bottom surface of the laser tracker mounting seat constitutes the laser tracker mounting surface. The laser tracker mounting seat ensures that the laser tracker is tightly connected below the mounting table, and prevents the laser tracker from falling off due to its own weight.

[0019] Preferably, the bottom of the support frame is provided with an avoiding groove for avoiding the launching device well mouth. The avoiding groove enables the support frame to be directly erected above the launching well device well mouth, so that the measuring instrument can be directly irradiated in the well mouth for measurement, facilitating the measurement operation.

[0020] The technical scheme of the launching device installation precision measuring device provided by the application is as follows:

[0021] The launching device installation precision measuring device comprises a mounting platform for measuring the installation precision of the launching device, an inertial navigation instrument is fixedly installed on an inertial navigation instrument mounting surface in the mounting platform, and a laser tracker is fixedly installed on a laser tracker mounting surface. The mounting platform comprises a support frame, the support frame is used for being fixed on a ship, an installation table is fixed on the support frame, a top portion of the installation table is provided with the inertial navigation instrument mounting surface, the inertial navigation instrument mounting surface is used for fixedly installing the inertial navigation instrument, a bottom portion of the installation table is provided with the laser tracker mounting surface, the laser tracker mounting surface is used for fixedly installing the laser tracker, a positioning member is also fixedly installed on the top portion of the installation table, a bottom surface of the positioning member is arranged in a coplanar manner with the inertial navigation instrument mounting surface, and end portions of the positioning member extend to the outside of the installation table, so that the laser tracker can indirectly obtain the coordinates of the inertial navigation instrument mounting surface by measuring the coordinates of the bottom surface of the positioning member.

[0022] The launching device installation precision measuring device provided by the application comprises an inertial navigation instrument and a laser tracker, the inertial navigation instrument and the laser tracker are integrated together through the installation table in the mounting platform, the positioning member is further arranged, the bottom surface of the positioning member is arranged in a coplanar manner with the inertial navigation instrument mounting surface, in use, the laser tracker scans the bottom surface of the positioning member extending out of the installation table, so that the two instruments spaced apart from each other can be connected and used together, the two instruments can be used together based on the coplanar measuring surface for measurement, the scanning data of the laser tracker can be connected with the ship reference platform, the ship does not need to be moored and bottomed, the installation and precision measurement of the launching device can be performed in real time when the ship is in shore maintenance or sea navigation, complex operations such as repeated re-calibration and manual determination of the reference are not needed, the measurement precision and efficiency of the launching device are effectively improved, the measurement process of each measuring instrument is supported by the installation table and the support frame, the measurement process is safe and stable, human measurement errors are eliminated, and the technical problems of the prior art, such as complicated parameter measurement process, low measurement efficiency and poor measurement precision, are effectively solved.

[0023] Preferably, the positioning member comprises two parallel rulers, and the two ends of the two rulers extend to the outside of the mounting table. The two ends of the two parallel rulers extend out of the mounting table, thereby directly constituting the measurement end for the laser tracker to scan and calibrate. According to the principle of three-point determination of a plane, the laser tracker can quickly scan and determine the coordinate value of the mounting surface of the inertial navigation instrument. The simple structure and convenient installation of the ruler facilitate the quick measurement operation.

[0024] Preferably, the top of the mounting table is provided with an inertial navigation instrument mounting seat, and the top surface of the inertial navigation instrument mounting seat constitutes the mounting surface of the inertial navigation instrument. After the inertial navigation instrument mounting seat is arranged, only the top surface of the inertial navigation instrument mounting seat needs to be finished and measured, so as to prevent errors of the top surface of the mounting table from affecting the precision of the mounting surface of the inertial navigation instrument and the measurement result. The inertial navigation instrument mounting seat is convenient to install and replace, and is convenient for subsequent maintenance and disassembly.

[0025] Preferably, the bottom of the mounting table is provided with a laser tracker mounting seat, and the bottom surface of the laser tracker mounting seat constitutes the mounting surface of the laser tracker. The laser tracker mounting seat ensures that the laser tracker is fastened and connected below the mounting table, thereby preventing the laser tracker from falling off due to its own weight.

[0026] Preferably, the bottom of the support frame is provided with an avoiding groove for avoiding the launching device well mouth. The avoiding groove enables the support frame to be directly arranged above the launching well device well mouth, so that the measuring instrument can be directly irradiated in the well mouth for measurement, thereby facilitating the measurement operation.

[0027] Preferably, the mounting platform is further provided with a laser collimator, and the laser collimator is used for measuring the perpendicularity of the guide rail after the ship is grounded. The laser collimator can cooperate with the measurement of the perpendicularity of the guide rail. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 FIG. 1 is a first perspective view of the mounting precision measurement device of the launching device according to the present application;

[0029] Figure 2 FIG. 2 is a second perspective view of the mounting precision measurement device of the launching device according to the present application;

[0030] Figure 3 FIG. 3 is a structural schematic view of the mounting precision measurement device of the launching device according to the present application; Figure 1 FIG. 4 is a structural schematic view of the mounting platform for measuring the mounting precision of the launching device in the measurement device according to the present application;

[0031] Figure 4 FIG. 5 is a top view of the mounting platform for measuring the mounting precision of the launching device in the measurement device according to the present application; Figure 3

[0032] BRIEF DESCRIPTION OF DRAWINGS​

[0033] 1, installation precision measurement for launching device; 2, installation table; 3, support frame; 4, support column; 5, support seat; 6, inertial navigation instrument; 7, laser tracker; 8, ruler; 9, inertial navigation instrument mounting seat; 10, lightening hole; 11, handle; 12, avoiding hole; 13, positioning pin; 14, laser collimator; 15, reinforcing rib plate; 16, fixing pin; 17, gasket; 18, mounting hole; 19, threaded hole; 20, laser tracker mounting seat; 21, avoiding groove. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present application clearer and more comprehensible, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application, that is, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application generally described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0035] Therefore, the detailed description of the embodiments of the present application provided below in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of the present application.

[0036] It should be noted that the relationship terms such as "first" and "second" and the like that can appear are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, terms such as "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the elements defined by the statement "including a" or the like do not exclude the process, method, article or device including the elements from including other elements.

[0037] In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" that can occur should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be direct connection, or indirect connection through intermediate medium, or can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the term "provided with" that can occur should be understood in a broad sense, for example, the object of "provided with" can be part of the body, or arranged separately from the body and connected to the body, which connection can be detachable connection, or non-detachable connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] The present application is further described in detail below in combination with embodiments.

[0040] Specific embodiment 1 of the installation precision measuring device of the launching device provided by the present application:

[0041] As shown in Figure 1 and Figure 2 The installation precision measuring device of the launching device (hereinafter referred to as the measuring device) in the present embodiment includes a mounting platform 1 for measuring the installation precision of the launching device, and the mounting platform 1 for measuring the installation precision of the launching device is integrated with measuring instruments such as inertial navigation instrument 6, laser tracker 7 and laser collimator 14. Among them, through the setting of the mounting platform 1 for measuring the installation precision of the launching device, the laser tracker 7 and the inertial navigation instrument 6 can be used in cooperation, the laser tracker 7 is used to scan the coordinate value and establish the coordinate plane, and then the inertial navigation instrument 6 is used to determine the deviation value of the coordinate plane compared with the ship reference platform, so that the vertical error of the scanning point coordinate of the laser tracker 7 compared with the ship reference platform can be calculated. The measuring device in the present embodiment scans and calculates in the mode of cooperation between the inertial navigation instrument 6 and the laser tracker 7, which is suitable for precision measurement when the launching device is installed on the ship, and can also be used for dynamic measurement without the need to fix the ship to the bottom or fix the ship, thereby improving the calculation precision and efficiency.

[0042] As shown in Figures 1 to 3As shown, the laser tracker 7 assembled in the measuring device is a laser tracker 7 commonly used in the prior art, model AT403, and the inertial navigation instrument 6 is a cuboid block structure. Among them, the measuring device can correspondingly fix and assemble the inertial navigation instrument 6 and the laser tracker 7 up and down, and the measuring device comprises a mounting table 2 and a support frame 3 supported below the mounting table 2. The mounting table 2 is a rectangular plate structure, the plate surface extends left and right in the horizontal direction, and the bottom of the mounting table 2 is provided with a reinforcing rib plate 15 to ensure the connection strength, and the support frame 3 is a frame structure supported below the mounting table 2, which comprises three vertically extending support columns 4 arranged in a tripod shape and three support columns 4 stably supported by the support columns 4. The support seat 5 is provided with an avoiding groove 21 for avoiding the launching device well mouth, so that the laser tracker 7 fixed on the bottom surface of the mounting table 2 can be irradiated into the launching well downward. As Figure 3 As shown, the upper and lower ends of one of the support columns 4 are respectively provided with two fixed pins 16, and the two fixed pins 16 correspond to each other to ensure the accurate positioning of the mounting table 2 relative to the support seat 5; the support seat 5 is also provided with two spaced apart positioning pins 13, and the connecting line of the positioning pins 13 is parallel to the bottom surface of the inertial navigation instrument 6 installed at the upper end of the mounting table 2.

[0043] As shown in the figure, Figure 3 As shown, the top surface of the mounting table 2 is fixed with an inertial navigation instrument mounting seat 9 at the center position, the inertial navigation instrument mounting seat 9 comprises split blocks arranged and surrounded by a rectangle, each block is used for supporting and fixing the inertial navigation instrument 6, and the outer side of each block is provided with a stop edge, and the stop edge surrounded by the rectangle is used for clamping and limiting the inertial navigation instrument 6 on the block. The outer periphery of the inertial navigation instrument 6 is provided with a vertically penetrating screw, and the block is provided with a threaded hole corresponding to the screw, and the inertial navigation instrument 6 is fixed on the inertial navigation instrument mounting seat 9 by screwing the screw into the threaded hole. The top surface of the inertial navigation instrument mounting seat 9 constitutes an inertial navigation instrument mounting surface which is attached to the bottom of the inertial navigation instrument 6; the laser tracker 7 is arranged on the bottom surface of the mounting table 2, and the laser tracker 7 is located directly below the inertial navigation instrument 6, as shown in the figure, Figure 4 As shown, the bottom of the mounting table 2 is provided with a laser tracker mounting seat 20, and the laser tracker mounting seat 20 is a flange structure, and the outer periphery of the disc body is provided with a threaded hole 19 arranged in a ring, and the laser tracker 7 is also detachably connected to the laser tracker mounting seat 20 below the mounting table 2 by means of screws.

[0044] In order to enable the laser tracker 7 located below the mounting table 2 to scan the inertial navigation instrument mounting surface above the mounting table 2, so as to establish a coordinate system with the bottom surface of the inertial navigation instrument 6 as the reference, as shown in the figure, Figures 1 to 3As shown, the mounting table 2 is also provided with a positioning member, the end of the positioning member extends out of the mounting table 2, the bottom surface of the positioning member is arranged in the same plane with the inertial navigation instrument mounting surface, the bottom surface of the part of the positioning member extending out of the mounting table 2 is scanned by the laser tracker 7, so that the laser tracker 7 can indirectly obtain the coordinates of the inertial navigation instrument mounting surface by measuring the coordinates of the bottom surface of the positioning member. In the embodiment, the positioning member is two mutually parallel rod-shaped rulers 8 which can be detachably fixed on the top surface of the mounting table 2, the cross section of the ruler 8 is rectangular, and the two rulers 8 are mutually parallel and extend along the left-right direction. Among them, the two rulers 8 are arranged at intervals on the mounting table 2, and the inertial navigation instrument mounting seat 9 is located between the two rulers 8.

[0045] As shown in the figure, Figures 1 to 3 The left and right ends of the two rulers 8 extend out of the mounting table 2, and the part of the two rulers 8 extending out of the mounting table 2 constitutes a measurement end for the laser tracker 7 to irradiate and scan, so that the laser tracker 7 can irradiate the bottom surface of the measurement end after switching the angle of the lens, thereby establishing the coordinate system of the inertial navigation instrument mounting surface through the four position bottom surface target points. In order to enable the inertial navigation instrument mounting surface to be coplanar with the bottom surface of the ruler 8, as shown in the figure, Figure 3 The bottom of the ruler 8 is also provided with a gasket 17, and the height of the gasket 17 is the same as the height of the stop block of the inertial navigation instrument mounting seat 9.

[0046] As shown in the figure, Figure 2 The bottom outer end of the mounting table 2 is also arranged with two laser collimators 14 at intervals left and right, the measurement principle of the laser collimator 14 here is the same as that of the prior art, and the verticality of the well mouth can be measured synchronously after the measuring device is fixed on the launch well mouth, further ensuring the accuracy of the measurement result. The laser collimator 14 is detachably assembled on the bottom surface of the mounting table 2 through the mounting hole 18 provided on the mounting table 2. Among them, the support seat 5 at the bottom of the support frame 3 is provided with an avoidance hole 12 corresponding to the laser collimator 14, and the avoidance hole 12 is used for downward irradiation of the laser collimator 14. In the embodiment, a through weight-reducing hole 10 is also provided beside the avoidance hole 12, and the mounting table 2 is also provided with a weight-reducing hole 10, so as to prevent the overall measuring device from being too heavy. Of course, in other embodiments, the laser collimator can be cancelled, and only the inertial navigation instrument, the laser tracker and the mounting platform are used to measure the precision of the launch device.

[0047] In the embodiment, in order to facilitate the transfer and installation of the measuring device, as shown in the figure, Figures 1 to 4 The left and right ends of the mounting table 2 are each provided with a handle 11, and the two handles 11 are mutually parallel to facilitate holding and carrying.

[0048] The specific steps of the method for measuring the installation precision of the launch device by using the measuring device in the embodiment are as follows:

[0049] (1) using the inertial navigation instrument 6 installed on the installation platform, the deviation of the inertial navigation instrument installation surface relative to the horizontal plane of the earth is measured, and using the inertial navigation instrument 6 installed on the ship reference platform, the deviation of the ship reference platform relative to the horizontal plane of the earth is measured, to obtain the deviation of the inertial navigation instrument installation surface relative to the ship reference platform;

[0050] (2) using the laser tracker 7 installed on the installation platform to measure the coordinates of the inertial navigation instrument installation surface and the guide rail in the launching device on the installation platform respectively, to obtain the vertical error of the guide rail relative to the inertial navigation instrument installation surface;

[0051] (3) calculating the vertical error of the guide rail relative to the ship reference platform according to the results of steps (1) and (2).

[0052] In step (1), two inertial navigation instruments 6 are used in cooperation (one is fixed on the installation table 2, and the other is placed on the reference platform at the bottom of the ship) to measure the deviations of the installation table 2 and the ship reference relative to the horizontal plane of the earth, and the data is uploaded to the upper computer to calculate the deviation of the installation table 2 relative to the ship reference platform.

[0053] In step (2), the bottom surfaces of the three measurement ends of the two rulers 8 extending out of the installation table 2 are scanned, the measurement surface and coordinate value of the inertial navigation instrument installation surface are established, and then the guide rail points of the launching device to be measured are scanned to obtain the coordinates of the guide rail of the launching device, so that the deviation of the guide rail relative to the inertial navigation instrument installation surface can be obtained through calculation, and the deviation of the guide rail relative to the ship reference platform can be obtained through conversion in step (3).

[0054] More specifically, the target seat and the points on the scanning points are completed by a target moving robot, which can move from top to bottom along the guide rail, and a target ball is arranged on the robot, which receives the laser emitted by the laser tracker 7 and returns the laser to the main machine, and the main machine calculates the X, Y, Z coordinates of the target points on the left and right guide rails and uploads them to the upper computer to complete the scanning measurement of the point coordinates; the orientation and vertical error of the guide rail of the launching device relative to the inertial navigation instrument installation surface are obtained through the conversion of the X, Y, Z coordinates of each target point and the coordinates of the inertial navigation instrument installation surface, and then the vertical error of the launching device relative to the ship reference platform is calculated to complete the measurement of the installation precision of the launching device. When the ship is sitting on the bottom, the X, Y coordinates of the target points of the guide rail positioning section in the launching device can also be measured by using the laser collimator 14, and the perpendicularity error of the guide rail positioning section can be obtained through conversion to further ensure the installation precision.

[0055] The installation precision measuring device of the launching device in the embodiment, the inertial navigation instrument 6 and the laser tracker 7 are integrated through the installation table 2 in the installation platform, and the positioning member is arranged, so that the bottom surface of the positioning member is coplanar with the installation surface of the inertial navigation instrument. In use, the bottom surface of the installation table 2 is scanned by the laser tracker 7, so that the two instruments spaced apart from each other can be connected and used together, and the two instruments can be measured based on the coplanar measuring surface, so that the scanning data of the laser tracker 7 can be connected with the ship reference platform. At the same time, under the measurement of the inertial navigation instrument 6, the ship does not need to be moored and bottomed, and the installation and precision calculation of the launching device can be performed in real time when the ship is in shore maintenance or sea navigation, without the need for repeated recalibration or manual determination of the reference and other complex operations, so that the measurement precision and efficiency of the launching device are effectively improved, and the measurement process of each measuring instrument is supported by the installation table 2 and the support frame 3, which is safe and stable, eliminates human measurement error, and effectively solves the technical problems of complicated parameter measurement process, low measurement efficiency and poor measurement precision of the launching device in the prior art.

[0056] In the embodiment, the inertial navigation instrument 6, the laser tracker 7 and the laser collimator 14 used are all instruments available on the market, so in other embodiments of the measuring device, the types of various instruments can also be replaced.

[0057] The specific embodiment 2 of the installation precision measuring device of the launching device provided by the application is as follows:

[0058] The difference from the embodiment 1 is that in the embodiment 1, the positioning member includes two parallel rulers 8, and the two rulers 8 extend left and right, and the two ends of the two rulers 8 extend to the outside of the installation table 2. In the embodiment, the two rulers extend perpendicularly to the left and right directions. In other embodiments, the positioning member can also be a positioning plate or a short rod fixed on the installation table, and a plurality of positioning plates or short rods are arranged on the installation table, and the end of each positioning plate or short rod extends out of the installation table, and the bottom surface of each positioning plate or short rod is flush with the installation surface of the inertial navigation instrument, so as to be scanned and captured by the laser tracker.

[0059] The specific embodiment 3 of the installation precision measuring device of the launching device provided by the application is as follows:

[0060] The difference between the embodiment 1 is that, in the embodiment 1, the top of the installation platform is provided with an inertial navigation instrument installation seat, and the inertial navigation instrument installation seat comprises a plurality of blocks arranged separately. In the embodiment, the shape of the inertial navigation instrument installation seat is changed, and the top surface of the fixed pedestal constitutes the inertial navigation instrument installation surface. In other embodiments, the structure and shape of the inertial navigation instrument installation seat can also be changed, for example, the seat structure is integrated, and only the purpose of fixing the inertial navigation instrument needs to be met. In other different embodiments, the inertial navigation instrument installation seat can also be cancelled, and the inertial navigation instrument is directly fixed on the top surface of the installation platform by bolt connection or adhesion, and the top surface of the installation platform directly constitutes the inertial navigation instrument installation surface.

[0061] The specific embodiment 4 of the installation precision measuring device of the launching device provided by the application is as follows:

[0062] The difference between the embodiment 1 is that, in the embodiment 1, the bottom of the installation platform 2 is provided with a laser tracker installation seat 20, and the laser tracker installation seat is a flange. In the embodiment, the laser instrument tracker installation seat is a cylindrical structure capable of fixing the top end of the laser tracker inside. In other embodiments, the shape and structure of the laser instrument tracker installation seat can also be changed, for example, a plurality of block structures similar to the inertial navigation instrument installation seat in the embodiment 1 are arranged, and only the purpose of fixing the laser tracker needs to be met. Of course, the laser tracker installation seat can also be cancelled, and the laser tracker is directly fixed on the bottom surface of the installation platform by bolt connection or adhesion, and the bottom surface of the installation platform directly constitutes the laser tracker installation surface.

[0063] The specific embodiment of the installation platform for measuring the installation precision of the launching device provided by the application is as follows:

[0064] The installation platform for measuring the installation precision of the launching device in the embodiment is the same as the installation platform 1 used in the installation precision measuring device of each launching device described above, and the installation platform is used for integrating and assembling the inertial navigation instrument and the laser tracker together, so that the two instruments can cooperate to measure the installation precision of the launching device. The specific structure and composition will not be described again.

[0065] The specific embodiment of the installation precision measuring method of the launching device provided by the application is as follows:

[0066] The installation precision measuring method of the launching device provided in the embodiment has been described in detail in the embodiment 1 of the installation precision measuring device of the launching device, and will not be described again. However, it should be noted that in step (2), a temporary measurement reference surface fixed relative to the ship can also be established on the ship. Through the determination of the temporary measurement reference surface, the laser tracker does not need to scan and calculate the inertial navigation instrument installation surface when measuring other launching devices subsequently, which facilitates the measurement work.

[0067] Wherein, the specific establishment and calculation process of the temporary measurement reference plane is: scanning the plane fixed relative to the ship by the laser tracker, establishing the coordinates of the temporary measurement reference plane, measuring the coordinates of the installation surface of the inertial navigation instrument installation platform and the temporary measurement reference plane, to obtain the deviation of the temporary measurement reference plane relative to the installation surface of the inertial navigation instrument, and combining step (1) to obtain the deviation of the temporary measurement reference plane relative to the ship reference platform; when the installation platform is displaced to measure other launchers, the laser tracker is used to measure the coordinates of the temporary measurement reference plane and the guide rail of the launcher respectively, to obtain the vertical error of the guide rail relative to the temporary measurement reference plane, and finally obtain the vertical error of the guide rail relative to the ship reference platform.

[0068] Wherein, after obtaining the deviation of the temporary measurement reference plane relative to the installation surface of the inertial navigation instrument, the inertial navigation on the installation platform and the ship reference platform can be removed.

[0069] It should be noted that in the measurement method provided by the present application, step (3) is used to calculate the vertical error of the guide rail relative to the ship reference platform according to the results of step (1) and step (2), so step (3) must be performed after step (1) and step (2), but the order of performing step (1) and step (2) is not fixed, that is, step (1) can be performed first to measure the deviation of the installation surface of the inertial navigation instrument relative to the ship reference platform, and then step (2) can be performed to scan the target coordinates and convert the coordinates of the installation surface of the inertial navigation instrument, or step (2) can be performed first to scan the coordinates, and then step (1) can be performed to calculate the deviation of the installation surface of the inertial navigation instrument relative to the ship reference platform, both of which can realize the installation precision measurement of the launcher on the ship.

[0070] Finally, it should be noted that the above description is only a preferred embodiment of the present application and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments without creative labor, or replace some technical features with equivalent ones. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for measuring the installation accuracy of a launching device, characterized in that, Includes the following steps: (1) Using the inertial navigation instrument mounted on the mounting surface of the inertial navigation instrument in the installation platform, measure the deviation of the mounting surface of the inertial navigation instrument relative to the horizontal plane of the earth. Using the inertial navigation instrument mounted on the ship reference platform, measure the deviation of the ship reference platform relative to the horizontal plane of the earth, so as to obtain the deviation of the mounting surface of the inertial navigation instrument relative to the ship reference platform. (2) Establish a temporary measurement reference plane fixed relative to the ship on the ship. Use a laser tracker on the mounting platform to measure the coordinates of the inertial navigation instrument mounting surface and the temporary measurement reference plane on the mounting platform to obtain the deviation of the temporary measurement reference plane relative to the inertial navigation instrument mounting surface. Combine this with step (1) to obtain the deviation of the temporary measurement reference plane relative to the ship reference platform. When the mounting platform is moved to measure other launching devices, use a laser tracker to measure the coordinates of the temporary measurement reference plane and the guide rail of the launching device to obtain the vertical error of the guide rail relative to the temporary measurement reference plane. Finally, obtain the vertical error of the guide rail relative to the ship reference platform. (3) Calculate the vertical error of the guide rail relative to the ship reference platform based on the results of steps (1) and (2).

2. The method for measuring the installation accuracy of the launching device according to claim 1, characterized in that, In step (2), after obtaining the deviation of the temporary measurement reference plane relative to the inertial navigation instrument mounting plane, the inertial navigation instruments on the mounting platform and the ship reference platform are removed.

3. A mounting platform for measuring the mounting accuracy of a launching device used to implement the method of claim 1 or 2, characterized in that, The system includes a support frame for mounting on a ship; a mounting platform is fixed on the support frame, with an inertial navigation instrument mounting surface at the top for mounting the inertial navigation instrument; a laser tracker mounting surface is provided at the bottom of the mounting platform for mounting the laser tracker; a positioning component is also fixedly mounted on the top of the mounting platform, with its bottom surface coplanar with the inertial navigation instrument mounting surface, and its end extending to the outside of the mounting platform, so that the laser tracker can indirectly obtain the coordinates of the inertial navigation instrument mounting surface by measuring the coordinates of the bottom surface of the positioning component.

4. The mounting platform for measuring the mounting accuracy of the launching device according to claim 3, characterized in that, The positioning element includes two parallel straightedges, with both ends of the straightedges extending to the outside of the mounting platform.

5. The mounting platform for measuring the mounting accuracy of the launching device according to claim 3 or 4, characterized in that, The top of the mounting platform is provided with an inertial navigation instrument mounting base, and the top surface of the inertial navigation instrument mounting base constitutes the inertial navigation instrument mounting surface.

6. The mounting platform for measuring the mounting accuracy of the launching device according to claim 3 or 4, characterized in that, The bottom of the mounting platform is provided with a laser tracker mounting base, and the bottom surface of the laser tracker mounting base constitutes the laser tracker mounting surface.

7. The mounting platform for measuring the mounting accuracy of the launching device according to claim 3 or 4, characterized in that, The bottom of the support frame is provided with a clearance groove for avoiding the wellhead of the launching device.

8. A device for measuring the installation accuracy of a transmitting apparatus used in implementing the method of claim 1 or 2, characterized in that, The system includes an installation platform for measuring the installation accuracy of a launching device. The platform comprises a support frame for fixing to a ship; a mounting table is fixed on the support frame; the top of the mounting table has an inertial navigation instrument (INS) mounting surface for fixing the INS; the bottom of the mounting table has a laser tracker mounting surface for fixing the laser tracker; a positioning component is also fixedly installed on the top of the mounting table, with its bottom surface coplanar with the INS mounting surface and its end extending to the outside of the mounting table, so that the laser tracker can indirectly obtain the coordinates of the INS mounting surface by measuring the coordinates of the bottom surface of the positioning component. The INS is fixedly installed on the INS mounting surface of the installation platform, and the laser tracker is fixedly installed on the laser tracker mounting surface.

9. The installation accuracy measuring device for the launching device according to claim 8, characterized in that, The positioning element includes two parallel straightedges, with both ends of the straightedges extending to the outside of the mounting platform.

10. The installation accuracy measuring device for the launching device according to claim 8 or 9, characterized in that, The top of the mounting platform is provided with an inertial navigation instrument mounting base, and the top surface of the inertial navigation instrument mounting base constitutes the inertial navigation instrument mounting surface.

11. The installation accuracy measuring device for the launching device according to claim 8 or 9, characterized in that, The bottom of the support frame is provided with a clearance groove for avoiding the wellhead of the launching device.

12. The installation accuracy measuring device for the launching device according to claim 8 or 9, characterized in that, The mounting platform is also equipped with a laser collimator, which is used to measure the verticality of the guide rails after the ship has bottomed out.

13. The installation accuracy measuring device for the launching device according to claim 10, characterized in that, The mounting platform is also equipped with a laser collimator, which is used to measure the verticality of the guide rails after the ship has bottomed out.

14. The installation accuracy measuring device for the launching device according to claim 11, characterized in that, The mounting platform is also equipped with a laser collimator, which is used to measure the verticality of the guide rails after the ship has bottomed out.

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