An automatic measurement device and method for weapon station follow-up error

Abstract

This invention relates to an automatic measurement device for weapon station tracking error, belonging to the field of weapon system testing and measurement. It includes: an optoelectronic gimbal image recorder (1), a muzzle image recorder (2), an electronic target (3), and a data processing system (6); the data processing system (6) processes the input image to obtain the pitch and azimuth angles of the optoelectronic gimbal (4) under test relative to the center of the electronic target (3) and the pitch and azimuth angles of the fire line of the weapon platform (5) relative to the center of the electronic target (3) within a certain time period. After fitting and subtracting the two sets of data, the tracking error of the weapon station is obtained. The tracking error of the weapon station is automatically measured, which not only reduces the workload of the test personnel and has higher accuracy than manual measurement, but also enables measurement in dynamic environments.

Description

Technical Field

[0001] This invention belongs to the field of weapon system testing and measurement, and specifically relates to an automatic measurement device and method for weapon station follow-up error. Background Technology

[0002] In a vehicle-mounted weapon station, the weapon platform constantly moves in sync with the electro-optical gimbal, meaning the weapon platform's pitch and azimuth angles must match those of the electro-optical gimbal. However, due to various reasons, such as bus transmission delays and servo algorithm response times, the weapon platform's pitch and azimuth angles cannot perfectly match those of the electro-optical gimbal; there is a tracking error between them. If the weapon station's tracking error is large, when the operator aims at the target through the electro-optical gimbal, the weapon platform is not perfectly aligned with the target, ultimately causing a deviation between the impact point of the ammunition fired from the weapon platform and the target, affecting firing accuracy.

[0003] There are two common methods for measuring the follow-up error of weapon stations. One method is to read the pitch and azimuth angles output by the electro-optical gimbal and the weapon platform respectively, and then directly take the difference to obtain the follow-up error between the two. The other method is to use the electro-optical gimbal to aim at the center of the grid target, and then insert a gun (cannon) sight into the muzzle of the weapon platform. The number of grids between the center of the gun (cannon) sight and the center of the target is observed by the human eye to obtain the equivalent number of grids between the weapon platform and the electro-optical gimbal, and finally convert it into an angle value, i.e., the follow-up error.

[0004] The motion error obtained by directly using the numerical calculations output by the optoelectronic gimbal and weapon platform is only a theoretical value and cannot truly reflect the weapon platform's pointing accuracy to the target because it is affected by factors such as the accuracy of the internal angle sensor and the zero-position deviation.

[0005] In the method of measuring the motion error of a weapon station using a gun (gun) sight, the operator needs to stand at the muzzle of the weapon platform to observe the gun (gun) sight. This not only results in a very low measurement frequency, but also makes it impossible for the operator to clearly observe the scene in the gun (gun) sight when the weapon station is located on a vibration table or a moving vehicle, thus lacking the necessary measurement conditions. Furthermore, during the weapon station's movement, the center of the electro-optical gimbal often cannot be perfectly aligned with the center of the target. This necessitates acquiring images of the electro-optical gimbal to determine the deviation angle between the gimbal and the target center, and then comparing this with the deviation angle between the gun (gun) sight center and the target center to calculate the motion error. This further increases the workload and reduces measurement accuracy.

[0006] Although an electronic camera can be used to replace a gun (cannon) scope, there is no synchronization mechanism between the camera and the internal camera of the electro-optical gimbal. The image taken at a certain moment still has a time error and cannot be completely equivalent to the same moment. This results in the inaccuracy of the final calculated motion error. Summary of the Invention

[0007] (a) Technical problems to be solved

[0008] The technical problem to be solved by the present invention is to provide an automatic measurement device and method for weapon station follow-up error to solve the problem of large follow-up error obtained by directly using the numerical calculations output by the photoelectric gimbal and weapon platform in the prior art.

[0009] (II) Technical Solution

[0010] To solve the above-mentioned technical problems, the present invention provides an automatic measurement device for weapon station follow-up error, comprising: an optoelectronic gimbal image recorder 1, a muzzle image recorder 2, an electronic target 3, and a data processing system 6;

[0011] The photoelectric pan-tilt image recorder 1 inputs the image output by the photoelectric pan-tilt 4 under test to the data processing system 6;

[0012] The muzzle image recorder 2 is connected to the weapon platform under test 5 to capture images on the electronic target 3 and input the images into the data processing system 6;

[0013] The data processing system 6 processes the input image to obtain the pitch and azimuth angles of the photoelectric gimbal 4 under test relative to the center of the electronic target 3 and the pitch and azimuth angles of the fire line of the weapon platform 5 relative to the center of the electronic target 3 within a certain time period. After fitting and subtracting the two sets of data, the weapon station follow-up error is obtained.

[0014] The photoelectric pan-tilt image recorder 1 includes: a recorder housing 7, an image acquisition interface 10, a photoelectric pan-tilt image storage module 9, and a data reading interface 8;

[0015] The image acquisition interface 10 is used to receive images output by the photoelectric gimbal 4, save the images through the photoelectric gimbal image storage module 9, and then import the images into the data processing system 6 through the data reading interface 8.

[0016] The muzzle image recorder 2 includes: a recorder housing 11, a camera 15, a muzzle image storage module 14, a data reading interface 13, and a muzzle adapter 12;

[0017] The muzzle adapter 12 is connected to the muzzle of the weapon barrel of the weapon platform 5, so that the fire line of the weapon platform 5 is parallel to the camera 15. The camera 15 is used to capture images on the electronic target 3. The captured images are saved through the muzzle image storage module 14. The muzzle image storage module 14 imports the images into the data processing system 6 through the data reading interface 13.

[0018] The electronic target 3 comprises an image source 16 and an electronic screen 19.

[0019] The image source 16 includes: an image generation module 17 and an image output interface 18;

[0020] The image generation module 17 is used to generate the image to be displayed, and the image output interface 18 is used to output the generated image to the electronic screen 19 for display.

[0021] The image output by the image generation module 17 to be displayed on the electronic screen 19 includes: a bullseye 20 and a time marker 21;

[0022] The bullseye 20 is set at the center of the electronic screen 19 and is used as a target when the photoelectric gimbal 4 is aiming, and to locate the position of the electronic target 3 in the image captured by the photoelectric gimbal 4 and the camera 15.

[0023] The time marker 21 is composed of 20 vertical strips and is used to indicate the time when the image captured by the photoelectric gimbal 4 and the camera 15 is currently in time.

[0024] Each vertical bar of the time marker 21 includes a circular positioning graphic 22, a triangular positioning graphic 24, and a numerical barcode 23;

[0025] The circular positioning graphic 22 and the triangular positioning graphic 24 are respectively set above and below the numerical barcode to position the numerical barcode 23. The interior color of the circular positioning graphic 22 is white and its grayscale value is 255. The interior color of the triangular positioning graphic 24 is black and its grayscale value is 0.

[0026] Wherein, when the grayscale of the numerical barcode 23 is 0, its corresponding binary character is 0; when the grayscale of the numerical barcode 23 is 255, its corresponding binary character is 1.

[0027] The 20 numerical barcodes 23 correspond to 20-bit binary values, which are then converted into corresponding decimal numbers, with the decimal numbers ranging from 0 to 1,048,575.

[0028] The decimal number starts from 0 after the device is powered on and increments by 1 every T time interval, meaning that the decimal number represents a timestamp from 0 to 1,048,575T.

[0029] The time unit T is set to the minimum time slice of the weapon station servo control algorithm, which is 10ms.

[0030] An automatic measurement method for weapon station servo error, the measurement method being implemented based on a measuring device, includes the following steps:

[0031] Step 1: The device is powered on, the image generation module 17 generates a display image and transmits it to the electronic screen 19 for display. The display image includes a bullseye 20 and a time marker 21. The bullseye 20 is used to locate the position of the target center in the image, and the time marker 21 is used to record the time when the image was captured.

[0032] Step 2: At a certain moment, the photoelectric gimbal 4 and the camera 15 take pictures of the electronic screen. After the pictures are taken, the images stored in the photoelectric gimbal image storage module 9 and the muzzle image storage module 14 are input into the data processing system 6.

[0033] Step 3: In the data processing system, the pixel deviation of the photoelectric gimbal and the muzzle image is located by the target 20 and recorded as (x,y) and (x',y') respectively. Then, the 20 numerical barcodes 23 are located by the circular positioning graphic 22 and the triangular positioning graphic 24 respectively.

[0034] Step 4: Obtain the average grayscale value of the numerical barcode 23 by calculating the average value of the center column L / 2 of each numerical barcode 23, as well as the average value near the center of the corresponding circular positioning graphic 22 and the average value near the center of the triangular positioning graphic 24.

[0035] Step 5: Based on the average grayscale value calculated in Step 4, determine whether each barcode value 23 corresponds to 0 or 1. If there is any unclear situation, record it as -1.

[0036] Step 6: Based on the results of Step 4, if there is no barcode 23 with a value of -1, then directly convert the 20-digit barcode 23 to decimal; if there is a barcode 23 with a value of -1, then first calculate the decimal value corresponding to the barcode being 0 or 1, and then take the average of the two decimal values. The time values ​​corresponding to the photoelectric pan-tilt unit and the muzzle image are recorded as t and t', respectively, and combined with the pixel difference obtained in Step 3 to form (x,y,t) and (x',y',t').

[0037] Step 7: Let the horizontal and vertical field of view angles corresponding to the photoelectric pan-tilt unit and the muzzle image be H, V and H', V', respectively, and the horizontal and vertical pixel values ​​be M, N and M', N', respectively. Convert the pixel values ​​in (x,y,t) and (x',t') into angle values ​​(α,β,t) and (α',β',t'), where...

[0038] Step 8: After processing the image sequence of the photoelectric pan-tilt unit and muzzle within a certain time period, two sets of numerical sequences can be obtained, namely (α1, β1, t1)...(α n ,β n ,t n ) and (α'1,β'1,t'1)…(α' n ,β' n ,t' n );

[0039] Step 9: Data fitting. Based on the two sets of sequences generated in Step 7, fit and plot two curves, namely the angular deviation of the center of the photoelectric gimbal and the muzzle image relative to the center of the electronic target 3 in a certain period of time.

[0040] Step 10: Data difference. Based on the curve plotted in Step 8, the deviation (α) between the center of the photoelectric gimbal and the center of the muzzle image at time θ and the center of the electronic target 3 can be obtained. θ ,β θ ) and (α' θ ,β' θ Subtracting the two yields (Δα) θ ,Δβ θ ), which is the follow-up error between the photoelectric gimbal and the muzzle at time θ.

[0041] In step 4, when the grayscale of the numerical barcode 23 is not entirely pure black or pure white;

[0042] The average gray value of the central column of pixels with a length of L / 2 is recorded as p1. The average gray values ​​of the pixels near the center of the circular positioning pattern 22 and the triangular positioning pattern 23 are recorded as p2 and p3, respectively. p2 and p3 represent 255 gray level and 0 gray level, respectively. p1 is compared with p2 and p3. If it is close to p2, it is determined to be 255 gray level. If it is close to p3, it is determined to be 0 gray level.

[0043] (III) Beneficial Effects

[0044] Compared with existing technologies, this invention has the following advantages: it automatically measures the motion error of the weapon station, which not only reduces the workload of test personnel and provides higher accuracy than manual measurement, but also enables measurements in dynamic environments, such as vibration tables and moving vehicles. Furthermore, it eliminates the need for modifications to the weapon station, avoiding complex installation and usage methods. Attached Figure Description

[0045] Figure 1 This is a schematic diagram illustrating the composition and installation of the present invention;

[0046] Figure 2 This is a schematic diagram of the components of the photoelectric pan-tilt image recorder 1;

[0047] Figure 3 This is a schematic diagram of the components of the muzzle image recorder 2;

[0048] Figure 4 This is a schematic diagram of the composition of electron target 3;

[0049] Figure 5 This is a schematic diagram of the screen display on the electronic target 3;

[0050] Figure 6 This is a schematic diagram of the style of time marker 21;

[0051] Figure 7 This is a schematic diagram illustrating the pixel value retrieval method for the numerical barcode 23;

[0052] Figure 8 This is a schematic diagram of the data processing software running on the data processing system 6. Detailed Implementation

[0053] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0054] Example 1

[0055] This embodiment provides an automatic measurement device for weapon station servo error, such as... Figures 1-8 The system includes: a photoelectric pan-tilt image recorder 1, a muzzle image recorder 2, an electronic target 3, and a data processing system 6;

[0056] The photoelectric pan-tilt image recorder 1 inputs the image output by the photoelectric pan-tilt 4 under test to the data processing system 6;

[0057] The muzzle image recorder 2 is connected to the weapon platform under test 5 to capture images on the electronic target 3 and input the images into the data processing system 6;

[0058] The data processing system 6 processes the input image to obtain the pitch and azimuth angles of the photoelectric gimbal 4 under test relative to the center of the electronic target 3 and the pitch and azimuth angles of the fire line of the weapon platform 5 relative to the center of the electronic target 3 within a certain time period. After fitting and subtracting the two sets of data, the weapon station follow-up error is obtained.

[0059] The photoelectric pan-tilt image recorder 1 includes: a recorder housing 7, an image acquisition interface 10, a photoelectric pan-tilt image storage module 9, and a data reading interface 8;

[0060] The image acquisition interface 10 is used to receive images output by the photoelectric gimbal 4, save the images through the photoelectric gimbal image storage module 9, and then import the images into the data processing system 6 through the data reading interface 8.

[0061] The muzzle image recorder 2 includes: a recorder housing 11, a camera 15, a muzzle image storage module 14, a data reading interface 13, and a muzzle adapter 12;

[0062] The muzzle adapter 12 is connected to the muzzle of the weapon barrel of the weapon platform 5, so that the fire line of the weapon platform 5 is parallel to the camera 15. The camera 15 is used to capture images on the electronic target 3. The captured images are saved through the muzzle image storage module 14. The muzzle image storage module 14 imports the images into the data processing system 6 through the data reading interface 13.

[0063] The electronic target 3 comprises an image source 16 and an electronic screen 19.

[0064] The image source 16 includes: an image generation module 17 and an image output interface 18;

[0065] The image generation module 17 is used to generate the image to be displayed, and the image output interface 18 is used to output the generated image to the electronic screen 19 for display.

[0066] The image output by the image generation module 17 to be displayed on the electronic screen 19 includes: a bullseye 20 and a time marker 21;

[0067] The bullseye 20 is set at the center of the electronic screen 19 and is used as a target when the photoelectric gimbal 4 is aiming, and to locate the position of the electronic target 3 in the image captured by the photoelectric gimbal 4 and the camera 15.

[0068] The time marker 21 is composed of 20 vertical strips and is used to indicate the time when the image captured by the photoelectric gimbal 4 and the camera 15 is currently in time.

[0069] Each vertical bar of the time marker 21 includes a circular positioning graphic 22, a triangular positioning graphic 24, and a numerical barcode 23;

[0070] The circular positioning graphic 22 and the triangular positioning graphic 24 are respectively set above and below the numerical barcode to position the numerical barcode 23. The interior color of the circular positioning graphic 22 is white and its grayscale value is 255. The interior color of the triangular positioning graphic 24 is black and its grayscale value is 0.

[0071] Wherein, when the grayscale of the numerical barcode 23 is 0, its corresponding binary character is 0; when the grayscale of the numerical barcode 23 is 255, its corresponding binary character is 1.

[0072] The 20 numerical barcodes 23 correspond to 20-bit binary values, which are then converted into corresponding decimal numbers, with the decimal numbers ranging from 0 to 1,048,575.

[0073] The decimal number starts from 0 after the device is powered on and increments by 1 every T time interval, meaning that the decimal number represents a timestamp from 0 to 1,048,575T.

[0074] The time unit T is set to the minimum time slice of the weapon station servo control algorithm, which is 10ms.

[0075] An automatic measurement method for weapon station servo error, the measurement method being implemented based on a measuring device, includes the following steps:

[0076] Step 1: The device is powered on, the image generation module 17 generates a display image and transmits it to the electronic screen 19 for display. The display image includes a bullseye 20 and a time marker 21. The bullseye 20 is used to locate the position of the target center in the image, and the time marker 21 is used to record the time when the image was captured.

[0077] Step 2: Image reading of the photoelectric pan-tilt unit and muzzle 27;

[0078] At a certain moment, the photoelectric gimbal 4 and camera 15 take pictures of the electronic screen. After the pictures are taken, the images stored in the photoelectric gimbal image storage module 9 and the muzzle image storage module 14 are input into the data processing system 6.

[0079] Step 3: Graphic positioning 28;

[0080] In the data processing system, the pixel deviation of the photoelectric gimbal and muzzle image is located by the target 20 and recorded as (x,y) and (x',y') respectively. Then, the 20 numerical barcodes 23 are located by the circular positioning graphic 22 and the triangular positioning graphic 24 respectively.

[0081] Step 4: Grayscale calculation 29;

[0082] Obtain the average grayscale value of the numerical barcode 23 by calculating the average value of the center column L / 2 of each numerical barcode 23, as well as the average value near the center of the corresponding circular positioning graphic 22 and the average value near the center of the triangular positioning graphic 24.

[0083] Step 5: Binarize to 30;

[0084] Based on the average grayscale value calculated in step 4, determine whether each barcode 23 corresponds to 0 or 1. If there is any unclear situation, record it as -1.

[0085] Step 6: Gray code decoding 31;

[0086] Based on the results of step 4, if there is no barcode 23 with a value of -1, then the 20-digit barcode 23 is directly converted to decimal; if there is a barcode 23 with a value of -1, then the decimal values ​​corresponding to the barcode being 0 or 1 are calculated respectively, and then the average of the two decimal values ​​is taken. The time values ​​corresponding to the photoelectric pan-tilt unit and the muzzle image are recorded as t and t' respectively, and are combined with the pixel difference obtained in step 3 to form (x,y,t) and (x',y',t').

[0087] Step 7: Data post-processing 32;

[0088] Let the horizontal and vertical field of view angles corresponding to the electro-optical pan-tilt unit and the muzzle image be H, V and H', V', respectively, and the horizontal and vertical pixel values ​​be M, N and M', N', respectively. Convert the pixel values ​​in (x,y,t) and (x',t') into angle values ​​(α,β,t) and (α',β',t'), where...

[0089] Step 8: Sequence generation 29;

[0090] After processing the sequence of images of the photoelectric pan-tilt unit and the muzzle over a certain period of time, two sets of numerical sequences can be obtained, namely (α1,β1,t1)…(α n ,β n ,t n ) and (α'1,β'1,t'1)…(α' n ,β' n ,t' n );

[0091] Step 9: Data Fitting 30. Based on the two sets of sequences generated in Step 7, fit and plot two curves, namely the angular deviation of the center of the photoelectric gimbal and the muzzle image relative to the center of the electronic target 3 in a certain period of time.

[0092] Step 10: Calculate the difference of 35 in the data. Based on the curve plotted in Step 8, the deviation (α) between the center of the photoelectric gimbal and the center of the muzzle image at time θ and the center of the electronic target 3 can be obtained. θ ,β θ ) and (α' n ,β' θ Subtracting the two yields (Δα) θ ,Δβ θ ), which is the follow-up error between the photoelectric gimbal and the muzzle at time θ.

[0093] Due to factors such as ambient lighting, camera model, and color difference of the electronic screen, the grayscale of the numerical barcode 23 in the actual captured image cannot be completely pure black (grayscale 0) or pure white (grayscale 255), as seen in vertical bars 25 and 26. In vertical bars 25 and 26, the average grayscale value of the pixels in the central column of length L / 2 is denoted as p1. The average grayscale values ​​of the pixels near the center of the circular positioning pattern 22 and the triangular positioning pattern 23 are denoted as p2 and p3, respectively. Since p2 and p3 actually represent grayscale 255 and grayscale 0, p1 is compared with p2 and p3; if it is close to p2, it is determined to be grayscale 255, and if it is close to p3, it is determined to be grayscale 0.

[0094] Due to the unique nature of Gray code, only one barcode's grayscale will change between two adjacent time points (t1 and t2) represented by time marker 21. Under normal circumstances, all 20 barcodes can be clearly identified as having a grayscale of 0 or 255, indicating the current time is either t1 or t2. However, when the time point of barcode change falls within the middle of the exposure time of the image sensor in the photoelectric pan-tilt unit 4 or the muzzle image recorder 2, a ghosting phenomenon will occur, making it impossible to clearly determine whether the changed value p1 of barcode 23 is close to p2 or p3. In this case, it should be recorded as...

[0095] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic measurement device for weapon station follow-up error, characterized in that, include: Photoelectric pan-tilt image recorder (1), muzzle image recorder (2), electronic target (3) and data processing system (6); The photoelectric pan-tilt image recorder (1) inputs the image output by the photoelectric pan-tilt unit (4) under test to the data processing system (6). The muzzle image recorder (2) is connected to the weapon platform under test (5) to capture images on the electronic target (3) and input the images into the data processing system (6). The data processing system (6) processes the input image and obtains the pitch and azimuth angles of the photoelectric gimbal (4) under test relative to the center of the electronic target (3) and the pitch and azimuth angles of the fire line of the weapon platform (5) relative to the center of the electronic target (3) within a certain time period. After fitting and subtracting the two sets of data, the weapon station follow-up error is obtained. The electronic target (3) includes: an image source (16) and an electronic screen (19); The image source (16) includes: an image generation module (17) and an image output interface (18); The image generation module (17) is used to generate the image to be displayed, and the image output interface (18) is used to output the generated image to the electronic screen (19) for display. The image output by the image generation module (17) to the electronic screen (19) includes: a bullseye (20) and a time marker (21); The bullseye (20) is set at the center of the electronic screen (19) and is used as a target when the photoelectric gimbal (4) is aiming, and to locate the position of the electronic target (3) in the image captured by the photoelectric gimbal (4) and the camera (15); The time marker (21) is made up of 20 vertical strips and is used to mark the time when the image captured by the photoelectric gimbal (4) and camera (15) is currently in time. Each vertical bar of the time marker (21) includes a circular positioning graphic (22), a triangular positioning graphic (24), and a numerical barcode (23). The circular positioning graphic (22) and the triangular positioning graphic (24) are respectively set above and below the numerical barcode to position the numerical barcode (23). The circular positioning graphic (22) is white and its grayscale is 255. The triangular positioning graphic (24) is black and its grayscale is 0. When the grayscale of the numerical barcode (23) is 0, its corresponding binary character is 0; when the grayscale of the numerical barcode (23) is 255, its corresponding binary character is 1. The 20 numerical barcodes (23) correspond to 20 binary values, which are converted into corresponding decimal numbers, the decimal numbers ranging from 0 to 1,048,575.

2. The automatic measurement device for weapon station follow-up error as described in claim 1, characterized in that, The photoelectric pan-tilt image recorder (1) includes: a first recorder housing (7), an image acquisition interface (10), a photoelectric pan-tilt image storage module (9), and a first data reading interface (8); The image acquisition interface (10) is used to receive the image output by the photoelectric gimbal (4), save the image through the photoelectric gimbal image storage module (9), and then import the image into the data processing system (6) through the first data reading interface (8).

3. The automatic measurement device for weapon station follow-up error as described in claim 2, characterized in that, The muzzle image recorder (2) includes: a second recorder housing (11), a camera (15), a muzzle image storage module (14), a second data reading interface (13), and a muzzle adapter (12). The muzzle adapter (12) is connected to the muzzle of the weapon barrel of the weapon platform (5), so that the fire line of the weapon platform (5) is parallel to the camera (15). The camera (15) is used to capture images on the electronic target (3). The captured images are saved through the muzzle image storage module (14). The muzzle image storage module (14) imports the images into the data processing system (6) through the second data reading interface (13).

4. The automatic measurement device for weapon station follow-up error as described in claim 3, characterized in that, The decimal number starts from 0 after the device is powered on and increments by 1 every T time interval, meaning that the decimal number represents a timestamp from 0 to 1,048,575T.

5. The automatic measurement device for weapon station follow-up error as described in claim 4, characterized in that, The time unit T is set to the minimum time slice of the weapon station servo control algorithm, which is 10ms.

6. An automatic measurement method for weapon station servo error, said measurement method being implemented based on the measuring device of claim 5, characterized in that, Includes the following steps: Step 1: The device is powered on, the image generation module (17) generates a display image and transmits it to the electronic screen (19) for display. The display image includes a bullseye (20) and a time marker (21). The bullseye (20) is used to locate the position of the target center in the image. The time marker (21) is used to record the time of the image capture. Step 2: At a certain moment, the photoelectric gimbal (4) and camera (15) take pictures of the electronic screen. After the pictures are taken, the images stored in the photoelectric gimbal image storage module (9) and the muzzle image storage module (14) are input into the data processing system (6). Step 3: In the data processing system, (6) locates the pixel deviation of the photoelectric gimbal and muzzle image through the target center (20), and records them as follows: and Then, the 20 numerical barcodes (23) are located by circular positioning graphic (22) and triangular positioning graphic (24) respectively. Step 4: Obtain the average grayscale value of the numerical barcode (23) by calculating the average value of the length L / 2 of the center column of each numerical barcode (23) and the average value near the center of the corresponding circular positioning pattern (22) and the average value near the center of the triangular positioning pattern (24); Step 5: Based on the average grayscale value calculated in Step 4, determine whether each barcode (23) corresponds to 0 or 1. If there is an unclear case, record it as -1. Step 6: Based on the result of Step 4, if there is no barcode (23) with a value of -1, then directly convert the 20-digit barcode (23) to decimal; if there is a barcode (23) with a value of -1, then first calculate the decimal value corresponding to the barcode being 0 or 1, and then average the two decimal values. The time values ​​corresponding to the photoelectric pan-tilt unit and the muzzle image are recorded as follows: and And together with the pixel difference obtained in step 3, they form and ; Step 7: Record the horizontal and vertical field of view angles corresponding to the photoelectric pan-tilt unit and the muzzle image as follows: and The horizontal and vertical pixel values ​​are and ,Will and Convert pixel values ​​to angle values and ,in ; Step 8: After processing the image sequence of the photoelectric pan-tilt unit and muzzle within a certain time period, two sets of numerical sequences can be obtained, namely... and ; Step 9: Data fitting. Based on the two sets of sequences generated in Step 7, fit and plot two curves, namely the angular deviation of the center of the photoelectric gimbal and the center of the muzzle image relative to the center of the electronic target (3) in a certain period of time. Step 10: Subtract the data. Based on the curve plotted in Step 8, you can obtain the result. The deviation of the center of the photoelectric gimbal and the muzzle image relative to the center of the electronic target (3) and Subtracting the two gives That is The tracking error between the photoelectric gimbal and the muzzle.

7. The automatic measurement method for weapon station follow-up error as described in claim 6, characterized in that, In step 4, when the grayscale of the numerical barcode (23) is not completely pure black or pure white; The average gray value of the central column of pixels with a length of L / 2 is recorded as p1. The average gray values ​​of the pixels near the center of the circular positioning pattern (22) and the triangular positioning pattern (24) are recorded as p2 and p3, respectively. p2 and p3 represent 255 gray level and 0 gray level, respectively. p1 is compared with p2 and p3. The value that is close to p2 is determined to be 255 gray level, and the value that is close to p3 is determined to be 0 gray level.

Images