A solution method for measuring the spatial posture of a gun barrel

Abstract

This invention discloses a method for measuring the spatial attitude of a gun barrel. The method includes installing and preparing a gun barrel spatial angle measurement device based on photoelectric tracking; calculating the gun's azimuth and elevation angles in a roughly horizontal state based on the true north azimuth and elevation angles output by a dual-antenna Beidou direction-finding receiver and the distance from a high-precision single-axis servo turntable to a target plate measured by a laser ranging module; and calculating the gun's azimuth and elevation angles in a high-angle state, as well as the heel angle of the gun's trunnion. The method utilizes an attitude calculation algorithm to rapidly determine the gun barrel's azimuth and elevation angles in a geographic coordinate system. The method is simple to operate, highly automated, and effectively avoids human error.

Description

Technical Field

[0001] The present invention relates to the technical field of gun barrel space angle measurement, and in particular to a solution method for measuring the space posture of a gun barrel. Background Art

[0002] Accurately measuring the spatial angles of a gun barrel is essential for ensuring the precise installation and commissioning of various gun components and is also an essential step in gun inspection and testing. Currently, this measurement is primarily accomplished through optical sighting of the gun barrel using equipment such as a known azimuth datum and a dual-station theodolite. This measurement approach involves through-sight measurement, labeling, parameter calibration, sighting measurement, and calculation. The through-sight measurement and parameter calibration steps are tedious and complex, requiring extensive theoretical knowledge. Observation measurement requires a high level of proficiency. Consequently, this measurement approach places high demands on the operator's technical proficiency. Furthermore, measurement errors are easily introduced during operation, and the low level of automation hinders widespread adoption and application. Summary of the Invention

[0003] The purpose of the present invention is to provide a solution method for measuring the spatial posture of a gun barrel in order to solve the above problems existing in the prior art.

[0004] The above-mentioned purpose of the present invention is achieved by the following technical means:

[0005] A method for measuring the spatial posture of a gun barrel comprises the following steps:

[0006] Step 1: Preparation for installation of the gun barrel spatial angle measurement device based on photoelectric tracking;

[0007] Step 2: Calculate the azimuth and elevation angles of the gun in a roughly horizontal state based on the true north azimuth and elevation angles output by the dual-antenna Beidou direction-finding receiver and the distance from the high-precision single-axis servo turntable to the target plate measured by the laser ranging module;

[0008] Step 3: Calculate the azimuth, elevation, and heel angle of the gun's trunnion at high angles.

[0009] As mentioned above, step 1 includes the following steps:

[0010] Step 1.1: Place the gun on a roughly level surface and level the gun barrel.

[0011] Step 1.2: Install the spatial angle measuring device inside the gun barrel. Observe the bubble level while rotating the entire device in the roll direction until the bubble level is centered. Then, rotate the screw to lock the device.

[0012] Step 1.3: Set up a tripod directly in front of the gun barrel and install the crosshair target, with the crosshair facing the gun barrel. Adjust the horizontal crosshair of the crosshair target to be horizontal and the vertical crosshair to be vertical. Then connect and install the second Beidou antenna.

[0013] Step 1.4: Connect the computer and power supply, and observe the image of the CCD camera on the computer;

[0014] Step 1.5. Return the rotation angle of the rotating shaft to zero and adjust the gun elevation mechanism until the crosshairs of the crosshairs on the target board enter the field of view of the CCD camera. Then, fine-tune the gun direction mechanism and elevation mechanism simultaneously so that the crosshairs on the crosshairs on the target board align with the crosshairs of the CCD camera.

[0015] The azimuth and elevation angles of the gun in the roughly horizontal state in step 2 above are based on the following formulas:

[0016] α=α ′

[0017]

[0018] Where:

[0019] α is the azimuth of the barrel axis when the gun is approximately horizontal;

[0020] β is the elevation angle of the barrel axis when the gun is approximately horizontal;

[0021] L1 is the distance from the center of the high-precision single-axis servo turntable to the cross center of the target plate;

[0022] l1 is the distance from the electrical phase center of the first Beidou antenna to the center of the high-precision single-axis servo turntable;

[0023] l2 is the distance from the electrical phase center of the second BeiDou antenna to the center of the crosshairs of the cross target plate;

[0024] α ′ It is the true north azimuth output by the dual-antenna Beidou direction-finding receiver;

[0025] β′ is the elevation angle output by the dual-antenna Beidou direction-finding receiver.

[0026] Step 3 as described above includes the following steps:

[0027] Step 3.1. Use the gun's servo adjustment or the gun's elevation mechanism to raise the gun barrel to a certain angle. During the raising process, control the rotation of the shaft to make the high-precision single-axis servo turntable continuously lower its head. After stabilization, measure the distance between the center of the crosshairs on the crosshairs of the target plate and the vertical scale line of the crosshairs of the CCD camera. Read the true north azimuth and elevation angle output by the dual-antenna Beidou direction-finding receiver. Use the laser ranging module to measure the distance from the high-precision single-axis servo turntable to the crosshairs of the target plate, and read the angle value output by the shaft.

[0028] Step 3.2: Calculate the azimuth, elevation, and heel angle of the gun's trunnion at high angles using the following formulas:

[0029]

[0030]

[0031] Where:

[0032] θ1 is the output of the shaft angle encoder of the high-precision single-axis servo turntable;

[0033] L2 is the distance from the center of the high-precision single-axis servo turntable to the cross center of the target plate;

[0034] X is the distance from the vertical line of the crosshairs to the center of the crosshairs on the crosshairs when the CCD camera is aiming after the gun is adjusted into position;

[0035] L is the distance from the gun's rotation center to the center of the high-precision single-axis servo turntable;

[0036] θ is the angle of the gun's elevation and depression;

[0037] γ is the heel angle of the gun trunnion;

[0038] α is the azimuth of the barrel axis when the gun is approximately horizontal;

[0039] β is the elevation angle of the barrel axis when the gun is approximately horizontal;

[0040] α t is the azimuth of the barrel axis at high angle of the gun;

[0041] β t It is the elevation angle of the barrel axis when the gun is at a high angle.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The present invention utilizes an attitude calculation algorithm to quickly obtain the azimuth and elevation angles of a gun barrel in a geographic coordinate system. The invention is simple to operate, highly automated, and can effectively avoid human error. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic structural diagram of the gun barrel space angle measurement device based on photoelectric tracking used in the present invention;

[0045] In the figure, 1-gun barrel (muzzle end); 2-top block; 3-wedge block; 4-screw; 5-reference end face; 6-first Beidou antenna; 7-torque motor; 8-laser ranging module; 9-cross target plate; 10-second Beidou antenna; 11-protrusion; 12-computer; 13-support tube; 14-axis angle encoder; 15-frame; 16-level bubble; 17-CCD camera; 18-rotating shaft; 19-tripod. DETAILED DESCRIPTION

[0046] In order to facilitate those skilled in the art to understand and implement the present invention, the present invention is further described in detail below in conjunction with embodiments. It should be understood that the embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0047] (1) Structural composition and connection relationship

[0048] A device for measuring the spatial angle of a gun barrel based on photoelectric tracking (hereinafter referred to as the device) mainly includes a barrel axis lead-out mechanism, a high-precision single-axis servo turntable, a dual-antenna Beidou direction-finding receiver, a CCD camera, a laser ranging module, a level bubble, a target plate, and a computer.

[0049] The barrel axis extraction mechanism is inserted from the muzzle end of gun barrel 1 into the gun barrel, tightly fitting and securely connecting to the barrel's inner wall. A high-precision single-axis servo turntable is securely connected to the barrel axis extraction mechanism. The laser rangefinder module, CCD camera, and level bubble are mounted on the high-precision single-axis servo turntable. A target plate is mounted 50 meters directly in front of the gun barrel. The two Beidou antennas of the dual-antenna Beidou direction-finding receiver are mounted above the high-precision single-axis servo turntable and the target plate, respectively. A computer is connected to the high-precision single-axis servo turntable via a cable.

[0050] The following describes the structure and function of each component

[0051] 1. Barrel axis lead-out mechanism

[0052] The barrel axis lead-out mechanism includes a support tube 13, a protrusion 11, a top block 2, a wedge block 3, a reference end face 5, and a screw rod 4. In this embodiment, there are four protrusions 11, two of which are distributed in a pair on both sides of the support tube 13. They are tightly fitted with the inner wall of the gun barrel 1, play a supporting role, and also serve as an axis reference. The screw rod 4 is installed inside the support tube 13 and is connected to the support tube 13 by a thread. The wedge block 3 is movably mounted on the screw rod 4. The screw rod 4 can rotate relative to the wedge block 3. The position of the wedge block 3 relative to the screw rod 4 in the axial direction of the screw rod 4 remains unchanged. The top block 2 is installed in the hole groove of the support tube 13 and is fitted with the inclined surface of the wedge block. When the screw rod is rotated, the screw rod moves axially in the support tube, and the screw rod drives the wedge block 3 to move. The wedge block 3 uses the inclined surface to lift the top block 2, so that the top block 2 is tightly fitted with the inner wall of the gun barrel 1. In this way, the barrel axis extraction mechanism is secured within the gun barrel using the four protrusions 11 below the support tube 13 and the top block 2 above it. To remove the barrel axis extraction mechanism, the screw rod 4 is rotated back, and the top block 2 retracts into the support tube 13 under the action of gravity, allowing the entire barrel axis extraction mechanism to be withdrawn. The reference end surface 5 is fixed to the outer end of the support tube 13, and the axial line connecting the two protrusions 11 on the same side of the support tube 13 is strictly perpendicular to the reference end surface 5.

[0053] 2. High-precision single-axis servo turntable

[0054] The high-precision single-axis servo turntable includes a frame 15, a torque motor 7, a shaft angle encoder 14 and a rotating shaft 18. The rotating shaft 18 is set on the frame 15 through a bearing so that the rotating shaft 18 can rotate freely. The torque motor 7 is fixed on one side of the frame 15, and the torque motor 7 is connected to the rotating shaft 18 to drive the rotation of the rotating shaft. The shaft angle encoder 14 for measuring the rotation angle of the rotating shaft 18 is fixed on the other side of the frame 15. The first Beidou antenna 6 is installed above the frame 15, and the mid-perpendicular line of the first Beidou antenna 6 passes through the center of the high-precision single-axis servo turntable (that is, the center of the rotating shaft 18). The frame 15 is connected to the reference end face 5, and the high-precision single-axis servo turntable is installed on the reference end face 5 of the barrel axis lead-out mechanism to ensure that the rotating shaft 18 is parallel to the reference end face 5.

[0055] 3.CCD camera

[0056] CCD camera 17 is mounted on the rotating shaft 18 of a high-precision single-axis servo turntable. During installation, ensure that the optical axis of CCD camera 17 is perpendicular to the rotating shaft 18, and that the central axis of the gun barrel 1 passes through the center of CCD camera 17. The main function of CCD camera 17 is to capture the target plate image and track the cross target plate 9 in real time.

[0057] 4. Laser ranging module

[0058] The laser ranging module 8 is installed on the rotating shaft 18 of the high-precision single-axis servo turntable. When installing, ensure that the optical axis of the laser ranging module 8 is perpendicular to the rotating shaft 18. The function of the laser ranging module 8 is to measure the distance from the center of the high-precision single-axis servo turntable to the cross target plate 9.

[0059] 5. Level bubble

[0060] The level bubble 16 is mounted on the rotating shaft 18 of the high-precision single-axis servo turntable. When installed, ensure that the sensitive axis of the level bubble 16 is parallel to the rotating shaft 18. The level bubble 16 is used to measure whether the rotating shaft 18 is horizontal.

[0061] 6. Target board

[0062] The target plate consists of a cross plate 9 and a tripod 19, with the cross plate 9 mounted on the tripod 19. The target plate is mounted approximately 50 meters in front of the gun barrel 1, ensuring that the horizontal crosshairs of the crosshairs of the cross plate 9 are horizontal and the vertical crosshairs are vertical. A second Beidou antenna 10 is mounted directly above the cross plate 9, with its mid-perpendicular passing through the center of the crosshairs of the cross plate 9.

[0063] 7. Computer

[0064] Computer 12 is used to capture and display images from CCD camera 17, read information from the first and second Beidou antennas 6 and 10, the laser ranging module 8, and the rotary encoder 14, calculate attitude angles, control the torque motor 7 for image tracking, and input and output data. Computer 12 is connected to the torque motor 7 and rotary encoder 14 of the high-precision single-axis servo turntable via a cable, providing power and communication.

[0065] 8.Dual-antenna Beidou directional receiver

[0066] The dual-antenna Beidou direction-direction receiver includes a first Beidou antenna 6 and a second Beidou antenna 10, both of which are connected to a computer 12 via cables. Its main function is to measure the true north azimuth and elevation angle of a high-precision single-axis servo turntable to a target plate.

[0067] (2) Working process and principle

[0068] The working process of the space angle measurement device is divided into three stages. The first stage is the installation preparation stage, which mainly involves installing the space angle measurement device at the gun port, setting up the target plate, and turning on the power to put the entire device in standby mode; the second stage is the horizontal measurement stage, which mainly involves measuring the azimuth and elevation angles of the gun barrel in a roughly horizontal state; the third stage is the high-angle measurement stage, which mainly involves measuring the azimuth, elevation angles of the gun barrel in a high-angle state and the inclination angle of the gun ear axis.

[0069] A method for measuring the spatial attitude of a gun barrel, using the above-mentioned gun barrel spatial angle measurement device based on photoelectric tracking, includes the following steps:

[0070] Step 1: Preparation for installation of the gun barrel spatial angle measurement device based on photoelectric tracking, specifically including the following steps:

[0071] Step 1.1: Park the gun on a roughly horizontal surface and move the gun barrel 1 to a roughly horizontal state. The axis of the gun barrel 1 may not be consistent with the longitudinal line of the gun chassis.

[0072] Step 1.2: Install the space angle measuring device inside the gun barrel 1, while observing the level bubble 16 on the high-precision single-axis servo turntable. Rotate the entire space angle measuring device in the roll direction until the level bubble 16 is centered, indicating that the shaft 18 of the high-precision single-axis servo turntable is horizontal, and rotate the screw 4 to lock the space angle measuring device.

[0073] Step 1.3: Set up a tripod about 50 meters in front of the gun barrel, install the cross target plate 9 so that the cross target plate 9 faces the gun barrel 1, adjust the horizontal cross line of the cross target plate 9 to be horizontal and the vertical cross line to be plumb, and connect and install the second Beidou antenna 10.

[0074] Step 1.4: Connect the computer 12 and the power supply, turn on the computer, and observe the image of the CCD camera 17 on the computer 12.

[0075] Step 1.5: Adjust the rotation angle of the rotating shaft 18 to zero, adjust the gun elevation mechanism until the crosshairs of the crosshairs of the target plate 9 enter the field of view of the CCD camera 17, and then fine-tune the gun direction mechanism and elevation mechanism simultaneously so that the crosshairs of the crosshairs of the target plate 9 are aligned with the crosshairs of the CCD camera 17.

[0076] Step 2: Calculate the azimuth and elevation angles of the gun in a roughly horizontal state based on the true north azimuth and elevation angles output by the dual-antenna Beidou direction-finding receiver and the distance from the high-precision single-axis servo turntable to the target plate measured by the laser ranging module:

[0077] Step 2.1. Operate the computer interface to start horizontal measurement. Read the true north azimuth and elevation angles output by the dual-antenna Beidou direction-finding receiver, and the computer will automatically record them.

[0078] Step 2.2: The computer 12 automatically controls the laser ranging module to measure the distance from the high-precision single-axis servo turntable to the target plate and automatically records it.

[0079] Step 2.3: The computer calculates the azimuth and elevation angles of the barrel axis of the gun when it is approximately horizontal using the following formula.

[0080] α=α ′

[0081]

[0082] In the formula

[0083] α is the azimuth of the barrel axis when the gun is approximately horizontal;

[0084] β is the elevation angle of the barrel axis when the gun is approximately horizontal;

[0085] L1 is the distance from the center of the high-precision single-axis servo turntable to the cross center of the target plate (which can be measured by the laser ranging module);

[0086] l1 is the distance from the electrical phase center of the first Beidou antenna to the center of the high-precision single-axis servo turntable;

[0087] l2 is the distance from the electrical phase center of the second Beidou antenna to the crosshair center of the cross target plate 9;

[0088] α ′ It is the true north azimuth output by the dual-antenna Beidou direction-finding receiver;

[0089] β′ is the elevation angle output by the dual-antenna Beidou direction-direction receiver;

[0090] Step 3: High-angle measurement stage

[0091] Step 3.1: Use the gun's servo-controlled gun adjustment or the gun's elevation mechanism to raise the gun barrel 1 to a certain angle. During this process, computer 12 activates the image tracking function, controlling the rotation of shaft 18, causing the high-precision single-axis servo turntable to continuously lower, allowing CCD camera 17 to track the crosshairs of crosshairs on target plate 9. Due to the heel angle of the gun's trunnion, the center of the crosshairs on target plate 9 and the vertical scribed line of the CCD camera 17 will gradually move away from each other during the tracking process. Once the gun is in position, this distance is measured using image processing. Simultaneously, the true north azimuth and elevation angles are read from the dual-antenna Beidou direction-finding receiver. A laser rangefinder module is used to measure the distance from the high-precision single-axis servo turntable to the crosshairs on target plate 9. The angle output by shaft 18 is then read and automatically recorded.

[0092] Step 3.2: The computer 12 calculates the azimuth, elevation and inclination angles of the gun's high-angle state and the gun's trunnion according to the following formulas, completing the spatial angle measurement of the gun barrel at any gun adjustment position.

[0093]

[0094] Where:

[0095] θ1 is the output of the shaft angle encoder of the high-precision single-axis servo turntable;

[0096] L2 is the distance from the center of the high-precision single-axis servo turntable to the cross center of the target plate (which can be measured by the laser ranging module);

[0097] X is the distance from the vertical scale line of the crosshairs to the center of the crosshairs of the crosshairs when the CCD camera is aimed after the gun is adjusted into position;

[0098] L is the distance from the gun's rotation center to the center of the high-precision single-axis servo turntable;

[0099] θ is the angle of the gun's elevation and depression;

[0100] γ is the heel angle of the gun trunnion;

[0101] α is the azimuth of the barrel axis when the gun is approximately horizontal;

[0102] β is the elevation angle of the barrel axis when the gun is approximately horizontal;

[0103] α t is the azimuth of the barrel axis at high angle of the gun;

[0104] β t It is the elevation angle of the barrel axis when the gun is at a high angle.

[0105] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope of the appended claims.

Claims

1. A method for measuring the spatial posture of a gun barrel, characterized in that: The following steps are involved: Step 1: Preparation for installation of a gun barrel spatial angle measurement device based on photoelectric tracking, the gun barrel spatial angle measurement device comprising a barrel axis lead-out mechanism and a high-precision single-axis servo turntable. The barrel axis lead-out mechanism is fixed in the gun barrel, and the high-precision single-axis servo turntable is fixedly connected to the barrel axis lead-out mechanism. The high-precision single-axis servo turntable is equipped with a level bubble, a CCD camera, and a laser ranging module. Step 2: Calculate the azimuth and elevation angles of the gun in a roughly horizontal state based on the true north azimuth and elevation angles output by the dual-antenna Beidou direction-finding receiver and the distance from the high-precision single-axis servo turntable to the target plate measured by the laser ranging module; wherein the dual-antenna Beidou direction-finding receiver includes a first Beidou antenna and a second Beidou antenna, which are respectively installed above the high-precision single-axis servo turntable and above the cross target plate; Step 3, calculate the azimuth, elevation and heel angle of the gun's trunnion at a high angle; The step 1 comprises the following steps: Step 1.1: Place the gun on a roughly level surface and level the gun barrel. Step 1.2: Install the spatial angle measuring device inside the gun barrel. Observe the bubble level while rotating the entire device in the roll direction until the bubble level is centered. Then, rotate the screw to lock the device. Step 1.3: Set up a tripod directly in front of the gun barrel and install the crosshair target, with the crosshair facing the gun barrel. Adjust the horizontal crosshair of the crosshair target to be horizontal and the vertical crosshair to be vertical. Then connect and install the second Beidou antenna. Step 1.4: Connect the computer and power supply, and observe the image of the CCD camera on the computer; Step 1.

5. Return the rotation angle of the high-precision single-axis servo turntable to zero. Adjust the gun elevation mechanism until the crosshairs of the crosshairs enter the CCD camera's field of view. Then, simultaneously fine-tune the gun's direction mechanism and elevation mechanism so that the crosshairs of the crosshairs align with those of the CCD camera. The azimuth and elevation angles of the gun in the approximately horizontal state in step 2 are based on the following formulas: Where: α is the azimuth of the barrel axis when the gun is approximately horizontal; β is the elevation angle of the barrel axis when the gun is approximately horizontal; L1 is the distance from the center of the high-precision single-axis servo turntable to the cross center of the target plate; l1 is the distance from the electrical phase center of the first Beidou antenna to the center of the high-precision single-axis servo turntable; l2 is the distance from the electrical phase center of the second BeiDou antenna to the center of the crosshairs of the cross target plate; α ′ It is the true north azimuth output by the dual-antenna Beidou direction-finding receiver; β′ is the elevation angle output by the dual-antenna BeiDou direction-direction receiver; The step 3 comprises the following steps: Step 3.1, using the gun follow-up gun adjustment or the gun elevation machine to raise the gun barrel (1) to a certain angle, at this time, during the process of raising the gun, the rotation shaft (18) of the high-precision single-axis servo turntable is controlled to rotate, so that the high-precision single-axis servo turntable continuously lowers its head, and after stabilization, the distance between the center of the crosshairs of the cross target plate (9) and the vertical scale line of the crosshairs of the CCD camera (17) is measured, the true north azimuth and elevation angle output by the dual-antenna Beidou direction-finding receiver are read, the distance from the high-precision single-axis servo turntable to the cross target plate (9) is measured using a laser ranging module, and the angle value output by the rotation shaft (18) is read; Step 3.2: Calculate the azimuth, elevation, and heel angle of the gun's trunnion at high angles using the following formulas: Where: θ1 is the output of the shaft angle encoder of the high-precision single-axis servo turntable; L2 is the distance from the center of the high-precision single-axis servo turntable to the cross center of the target plate; X is the distance from the vertical line of the crosshairs to the center of the crosshairs on the crosshairs when the CCD camera is aiming after the gun is adjusted into position; L is the distance from the gun's rotation center to the center of the high-precision single-axis servo turntable; θ is the angle of the gun's elevation and depression; γ is the heel angle of the gun trunnion; α t is the azimuth of the barrel axis at high angle of the gun; β t It is the elevation angle of the barrel axis when the gun is at a high angle.

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