Ship-based artillery and land-based artillery orientation and height calibration method

Abstract

The invention relates to a ship-based artillery and land-based artillery orientation and height calibration method, which can effectively solve the problems of low working efficiency, high operation difficulty and low accuracy and reliability, and adopts the technical scheme that the method comprises the following steps: 1) leveling and centering a calibration theodolite; 2) searching a fixed star; (3) mounting a gun aiming mirror; 4) fixed star tracking measurement; 5) calibrating the direction and height of the artillery; the calibration theodolite is used for quickly aligning the ship with the datum plane of the calibration theodolite, then the system can automatically screen fixed stars in high-brightness positions for aiming, the automatic theodolite tracks and aims the fixed stars in real time and guides ship equipment to aim at the fixed stars, and when the system roughly aims at the calibration theodolite and the ship equipment, the calibration theodolite and the ship equipment can accurately aim at the fixed stars. And an accurate aiming angle is obtained through angle reduction, so that the alignment calibration of unifying the orientation and direction of relevant equipment on a ship to the reference orientation of the ship in the alignment calibration measurement process of a shipborne weapon is realized, and the method is an innovation in alignment calibration of shipborne artillery or land-based artillery.

Description

1. Technical Field

[0001] The invention relates to a measuring method, in particular to a method for calibrating the azimuth and height of shipborne artillery and land-based artillery. 2. Background Technology

[0002] During the calibration and measurement of shipborne and land-based artillery, it is necessary to unify the azimuth, altitude and pointing of the relevant equipment with the reference azimuth and altitude of the ship or land. The current calibration and measurement method is to use the theodolite and the aiming telescope on the calibration equipment to aim at the stars at the same time, unify the pointing of the equipment with the azimuth and altitude reference of the theodolite, and then aim the theodolite at the reference line of the ship or land to achieve the unification of the equipment with the reference azimuth and altitude of the ship or land. However, due to problems in the calibration method, the following problems exist in use: 1) In the process of aligning the theodolite with the reference plane of the ship, the efficiency is low, the adjustment time is long, and the technical requirements are high; 2) When the theodolite and the equipment are aimed at the stars, the selection of stars generally relies on the human eye to distinguish in the air, resulting in the selected stars not being optimal in terms of altitude angle, brightness, etc., and when the calibration time is too long and the earth rotates during this period, the selected stars cannot be effectively used to complete the entire calibration measurement process; 3) When the theodolite is used to aim at the stars, the surveyor needs to continuously observe the instrument for aiming and tracking, which consumes a lot of time and energy of the surveyor, and the theodolite cannot track and aim at the stars; 4) When the star sighting mirror on the equipment is used to aim at the stars, the equipment needs to be continuously rotated to keep the equipment and the stars in an aligned state, which takes a long time and has high labor intensity, and it is difficult to achieve the aiming mirror to roughly aim at the stars and the precise aiming angle; 5) The data synchronization between the theodolite and the star sighting mirror needs to be synchronized through voice commands, which is inefficient; 6) Data processing requires on-site calculation and inference, with low processing efficiency and poor accuracy and reliability. Therefore, improvement and innovation in calibration methods are imperative. III. Summary of the invention

[0003] In view of the above situation, in order to solve the defects of the prior art, the purpose of the present invention is to provide a method for calibrating the azimuth and altitude of shipborne artillery and land-based artillery, which can effectively solve the problems of low work efficiency, great operating difficulty, and low accuracy and reliability.

[0004] The technical solution provided by the present invention comprises the following steps:

[0005] 1) Calibration and alignment of theodolite

[0006] The calibration theodolite is mounted on a one-dimensional translation platform, the calibration theodolite degree plane is adjusted to be consistent with the ship's reference plane or the land-based plane, and the calibration theodolite is centered by translation of the translation platform; a tilt sensor is placed on the ship's or land-based reference line, and another tilt sensor is horizontally placed on the calibration theodolite, and they are respectively connected to a radio station, the radio station is connected to a computer, and the tilt sensor is directly connected to the computer; the theodolite is adjusted, and when the output data of the two tilt sensors in two directions are the same, the theodolite is leveled; when the theodolite is leveled, the translation platform is translated to ensure that the theodolite is centered on the ship's reference line;

[0007] 2) Finding stars

[0008] Use a computer and its software to find stars. When the star to be measured is about to arrive, point the aiming scope to the estimated arrival position of the star to be measured to find the target star to be measured;

[0009] 3) Install the gun sight

[0010] Insert the hollow shaft of the aiming scope into the gun barrel, connect the aiming scope to the computer through a wired or wireless network, and the computer collects images of the aiming scope in real time, processes the images, and aims at the stars;

[0011] 4) Star tracking measurement

[0012] Aim the calibration theodolite at the star to be measured, find the altitude angle and azimuth of the star to be measured by the computer and its software, and transmit the altitude angle data, point the gun barrel at the star, collect the image of the star by the aiming scope and the calibration theodolite at the same time, shake the star to the center of the field of view of the aiming scope in real time, adjust the image by the computer, calculate the horizontal angle and vertical angle of the star in the theodolite coordinate system, rotate the theodolite horizontally and vertically, point to the star, and track it;

[0013] 5) Artillery azimuth and altitude calibration

[0014] The computer and its software simultaneously collect the images of the stars to be measured on the aiming scope and the calibration theodolite, calculate the azimuth and altitude angle of the theodolite, and aim at the infinitely distant stars, which is the calibration value of the calibration gun's pointing, thereby realizing the calibration of the azimuth and altitude of shipborne artillery or roadbed artillery.

[0015] The present invention uses a calibration theodolite to quickly align a ship with a reference plane of the calibration theodolite, and then the system automatically selects stars with good highlighted positions for aiming. The automatic theodolite tracks and aims at the stars in real time, and guides the ship's equipment to aim at the stars. The system achieves that when the calibration theodolite and the ship's equipment are roughly aimed, the precise aiming angle is obtained through angle reduction, thereby achieving calibration of the orientation and pointing of related equipment on board to the reference orientation of the ship during the calibration measurement of ship-borne weapons. The system is easy to operate, has high work efficiency, fast test speed, and high accuracy and reliability, and is an innovation in the calibration of ship-borne artillery or land-based artillery. IV. Description of the drawings

[0016] Figure 1 This is a frame diagram of the calibration process of the present invention.

[0017] Figure 2 It is a frame diagram of the theodolite leveling process of the present invention.

[0018] Figure 3 This is a frame diagram of the star-seeking process of the present invention.

[0019] Figure 4 The present invention is a process diagram for the theodolite to track stars.

[0020] Figure 5 It is the structural diagram of the aiming scope of the present invention.

[0021] Figure 6 This is a three-dimensional external structure diagram of the multi-channel interface communication power supply controller of the present invention.

[0022] Figure 7 Block diagram of the control circuit structure of the multi-channel interface communication power supply controller. V. Specific implementation methods

[0023] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0024] Depend on Figure 1-7 It is given that the present invention comprises the following steps:

[0025] 1) Calibration and alignment of theodolite

[0026] like Figure 1-2As shown, the calibration theodolite leveling and centering is divided into two parts: theodolite leveling and theodolite centering. Theodolite leveling is the basis of all measurements. The horizontal reference plane of the hull is accurately leveled in the hull dock. When the horizontal reference plane of the theodolite is kept consistent with the horizontal reference plane of the hull during the swaying of the hull, the leveling of the theodolite can be achieved. Theodolite centering realizes the accurate centering of the theodolite to the center axis of the hull. Specifically, a one-dimensional translation stage is installed on the tripod, and the calibration theodolite is installed on the one-dimensional translation stage. The plane of the calibration theodolite dial is adjusted to be consistent with the datum plane of the ship or the land base, and then the calibration theodolite is centered by translation of the translation stage; a first high-precision two-dimensional inclination sensor is placed on the datum line of the ship or the land base, and at the same time, a high-precision two-dimensional inclination sensor is placed on the calibration theodolite. A second high-precision two-dimensional inclination sensor is horizontally placed on the theodolite, the first high-precision two-dimensional inclination sensor is connected to the first radio station, the second radio station is used in pairs with the first radio station, the second radio station is connected to a computer, the second high-precision two-dimensional inclination sensor is directly connected to the computer, the first radio station communicates with the second radio station, and data of the first high-precision two-dimensional inclination sensor is transmitted to the computer in real time. The computer controls and directly collects the inclination data of the second high-precision two-dimensional inclination sensor, adjusts the theodolite, and changes the output of the second high-precision two-dimensional inclination sensor. When the output data of the first high-precision two-dimensional inclination sensor and the second high-precision two-dimensional inclination sensor in two directions are the same, the leveling of the theodolite is achieved.

[0027] After the theodolite is leveled, the translation stage is used to make the theodolite centered on the ship's datum line. If the theodolite disc plane is inconsistent with the ship's datum plane after translation, the above leveling and centering process is repeated. After 2 to 3 repeated adjustments, leveling and centering can be achieved.

[0028] There are two ways to transmit data between different devices. One is to combine wireless data transmission radio and wifi, and the other is to use wifi network and industrial wireless router to aggregate the data of two inclination sensors to the computer through wireless data transmission radio.

[0029] The calibration of theodolite centering and leveling should take no more than 20 minutes, and the adjustment accuracy should be better than 10 seconds;

[0030] 2) Finding stars

[0031] like Figure 3As shown in the figure, to realize the automatic star search of the theodolite, three basic conditions must be met: first, to obtain the north position and altitude of the theodolite telescope, that is, the theodolite orientation; second, to obtain the longitude and latitude and time of the location of the theodolite; third, the ephemeris of known stars and query, so as to realize the automatic query of the best star with high brightness, few neighboring stars and small altitude angle, specifically: use a computer and its software to find stars, the method is: first, to obtain the north position and altitude of the calibration theodolite telescope, that is, the theodolite orientation; second, to obtain the longitude and latitude and time of the location of the calibration theodolite through the Beidou module with model BD-772xTM; third, to find out from the known ephemeris the best star with brightness greater than 4.2, time of observing two adjacent stars greater than 30s, and altitude angle of 35°-45°;

[0032] Use computers and their software to search for stars. When a star to be measured is about to arrive, point the telescope to the estimated arrival position of the star to be measured. The time interval between two adjacent observed stars is greater than 30 seconds. This relaxes the requirements for star selection, greatly facilitating observation and improving efficiency.

[0033] The calibration theodolite has a motor drive function, which can realize accurate horizontal and vertical rotation according to the user's instructions. The system software can automatically search for the star to be measured. Before conducting astronomical longitude and latitude observations, the system software generates an observation star catalog based on the position and time information, and lists the azimuth and altitude angles of the star to be measured when it reaches the contour circle. The theodolite automatically realizes accurate aiming of the star to be measured;

[0034] The computer software has an automatic star-finding function. When the star to be measured is about to arrive, the system software drives the instrument to automatically point the telescope to the estimated arrival position of the star to be measured;

[0035] 3) Install the gun sight

[0036] Insert the aiming scope into the gun barrel. The aiming scope is connected to the computer through a wired or wireless network. The aiming scope is equipped with a 2.3 million pixel black and white camera. The computer collects images of the aiming scope in real time, processes the images, and aims at the stars.

[0037] 4) Star tracking measurement

[0038] like Figure 4As shown, the field image of the theodolite telescope is collected through a CCD video eyepiece, the image processing is performed to obtain the position relationship between the measurement mark center and the image center, the rotation angle of the electronic theodolite is calculated, and the automatic precise aiming is completed by controlling the drive; the specific method is: among the excellent stars found in step 2), a star is selected as the star to be measured, the star to be measured is aimed at the star to be measured with a calibration theodolite, and the elevation angle, azimuth and elevation angle data of the star to be measured found in step 2) are transmitted to the computer through a wireless network by a computer and its software, and displayed on the screen, the gun barrel is pointed at the star, the image of the star is collected by the aiming gun scope and the calibration theodolite at the same time, the star is shaken to the center of the field of view of the aiming gun scope in real time, the collected image is transmitted to the computer, the computer adjusts the image, calculates the horizontal angle and vertical angle of the star in the theodolite coordinate system, and the theodolite is rotated horizontally and vertically to point to the star, and tracked;

[0039] The method to calculate the horizontal angle and vertical angle of a star in the theodolite coordinate system is:

[0040] The measuring camera and the calibration theodolite are fixed relative to each other, and the star to be measured is photographed. The computer calculates the horizontal angle and vertical angle of the star to be measured based on the image taken by the measuring camera. When the point P (u, v) on the image is known, the camera coordinate system is O C (X C ,Y C ,Z C ), the coordinate system of the theodolite is O J (X J ,Y J ,Z J ), M1 is the conversion coefficient between the camera coordinate system and the image coordinate system, is the conversion relationship between the camera coordinate system and the theodolite coordinate system. The position relationship between the camera coordinate system and the image coordinate system is as follows:

[0041]

[0042] The position relationship between the theodolite coordinate system and the camera coordinate system is as follows:

[0043]

[0044] Combining the above two equations, we can get:

[0045]

[0046] Eliminate Z from the above formula C Calculate the coordinates of the target stars on n sets of unknown images in the theodolite coordinate system:

[0047] P n (X nJ ,Y nJ ,Z nJ), n is the number of target stars to be measured, n≥1

[0048] Calculate the horizontal angle and vertical angle of the star to be measured:

[0049]

[0050] Where: h n 、v n are the horizontal angle observation value and vertical angle observation value of the star to be measured, β0 represents the horizontal observation value represented by the collimation axis in the theodolite coordinate system, (X nJ ,Y nJ ,Z nJ ) represents the position of the star to be measured, P n (X nJ ,Y nJ ,Z nJ ) in the theodolite coordinate system;

[0051] P n (X nJ ,Y nJ ,Z nJ )(n is the number of target stars to be measured, n≥1);

[0052] 5) Artillery azimuth and altitude calibration

[0053] The computer and its software simultaneously collect the images of the stars to be measured on the aiming scope and the calibration theodolite, calculate the azimuth and altitude of the theodolite according to the images collected from the theodolite, and aim at the infinitely distant stars. When the azimuth and altitude of the theodolite are parallel to those of the aiming scope, the azimuth and altitude of the theodolite are the calibration values ​​of the calibration gun pointing, thereby realizing the calibration of the azimuth and altitude of shipborne artillery or roadbed artillery.

[0054] In order to ensure the use effect and convenience, the aiming gun mirror structure is as follows Figure 5 As shown, it includes a hollow shaft 1, a camera 3, a multi-channel interface communication power supply controller 5 and a tablet computer 6. The hollow shaft 1 is connected to the opening at the rear of the camera 3. The center of the hollow shaft 1 and the center of the lens 4 at the front end of the camera 3 are on the same axis to form an aiming structure. The camera data interface 3-1 on the camera 3 is connected to the camera communication interface 5-6 of the multi-channel interface communication power supply controller 5 via a transmission line. The multi-channel interface communication power supply controller 5 is connected to the tablet computer 6 via a network data interface 5-2 by wire or wireless.

[0055] The multi-channel interface communication power supply controller 5 includes a shell 5-5 and a control circuit installed in the shell 5-5. A wireless network antenna 5-1 is installed on the upper part of the shell 5-5. A network data interface 5-2 and a power switch 5-3 are provided on the front panel of the shell 5-5. A camera communication interface 5-6 and a multi-channel interface communication power supply controller switch 5-4 are provided on the front panel below the network data interface 5-2.

[0056] The control circuit structure is that the power switch 5-3 on the shell 5-5 is connected to the controller switch 5-4, the power switch 5-3 is connected to the power detector 5-15, the inverter 5-14 and the power battery 5-13 installed in the shell 5-5, and is grounded, the controller switch 5-4 is respectively connected to the input end of the voltage regulator 5-12 installed in the shell 5-5 and the power input end of the router 5-7, the output end of the voltage regulator 5-12 is connected to the camera communication interface 5-6 on the shell 5-5, the level converter 5-11 in the shell 5-5 is connected to the camera communication interface 5-6 via a transmission line, the level converter 5-11 is connected to the grounded signal isolator 5-10 via a transmission line, the signal isolator 5-10 is connected to the router 5-7 via the Rs232 serial port 5-8 via the signal driver 5-9, the router 5-7 is connected to the wireless network antenna 5-16 on the shell 5-5 for receiving wireless network signals, and is connected to the network communication interface 3-1 of the camera 3 via the network data interface 5-2 on the shell 5-5 via a transmission line.

[0057] The hollow shaft 1 is composed of multiple hollow rods connected in series via a locking device 2.

[0058] The locking device 2 is composed of a circular locking hoop and a locking hoop fixing bolt.

[0059] The shell 5-5 is a hollow square.

[0060] The camera 3 is a black and white camera with 2.3 million pixels.

[0061] The network data interface 5-2 is a gigabit network port and a 5GHz, 2.5GHz dual-band wireless network, and can communicate with the tablet computer 6 within a distance greater than 10 meters.

[0062] The multi-channel interface communication power supply controller 5 is a serial port server, which has two functions: one is communication, and the other is power supply for equipment.

[0063] The camera data transmission is arranged in the gun scope: when a wired connection is adopted, the length of the data line between the camera and the tablet computer is at least 10 meters;

[0064] When using WiFi wireless transmission, you only need to connect a wireless module to the built-in camera position of the scope, set a fixed IP address for the wireless module, and connect it to the local area network. The tablet computer only needs to access the module with a fixed IP to transmit the image of the built-in camera of the scope to the tablet computer. The power supply is battery-powered.

[0065] Compared with the prior art, the present invention has the following outstanding advantages:

[0066] 1. The measurement data is synchronized in real time and has a high degree of automation and intelligence. Due to the automation of data transmission, the speed of collection and processing is extremely fast, and the system calibration status can be viewed in real time.

[0067] 2. The measurement accuracy of the calibration theodolite is 2 seconds, the automatic motor has high measurement accuracy, and the entire calibration process does not require manual operation of the instrument;

[0068] 3. The instrument box of the automatic calibration system uses a 220-volt power supply to power the calibration theodolite after conversion, so that the calibration theodolite no longer relies on the single power supply method of the built-in battery. The calibration theodolite can work uninterruptedly for a long time, eliminating the trouble of replacing batteries and ensuring uninterrupted data communication between the calibration theodolite and the tablet computer.

[0069] 4. The gun calibration process is simple to operate and can be repeated in a short time.

[0070] 5. The system uses wireless data transmission radio, wireless wifi, wired network, etc. to transmit data, with flexible networking, good scalability, and plug-and-play;

[0071] 6. The calibration theodolite has a motor drive function, which enables the calibration theodolite to track and measure stars. It does not require surveyors to continuously observe the instrument for aiming, saving surveyors a lot of time and energy.

[0072] 7. The use of computer automatic star search technology requires that the time interval between two adjacent observed stars be greater than 30 seconds, which relaxes the requirements for star selection, greatly facilitates observation, and improves efficiency. The automatic star search process takes no more than 5 minutes.

[0073] 8. Computer software automatically processes data, eliminating the need for surveyors to perform on-site calculations and avoids calculation errors.

[0074] 9. The multi-channel interface communication power supply controller has UPS function. When connected to 220V power supply, it can work while charging the battery pack of the instrument box until the battery pack is fully charged; when disconnected from the 220V power supply, the built-in battery pack can work normally until the battery pack is exhausted.

[0075] 10. The gun sight system of the present invention adopts data transmission, so that the serial communication distance can reach 100 meters, meeting various measurement requirements.

[0076] 11. After tests and field applications, the present invention has been found to have a simple structure, easy operation, convenient use, good effect, high precision, high speed, high efficiency, and saves a lot of manpower and material resources. After experiments and field applications, the speed of calibrating the direction and height once has been reduced from 4-5 hours to less than 1 hour, and the efficiency has been increased several times, and manpower and material resources can be saved by more than 5 times. The effect is unexpectedly good, has a strong practical application value, and has huge economic and social benefits.

[0077] It should be pointed out that the above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any technician familiar with the profession can make changes or modify the technical contents disclosed above into equivalent embodiments with equivalent changes without departing from the scope of the technical solution of the present invention, which all fall within the protection scope of the present invention.

Claims

1. A method for calibrating the azimuth and altitude of shipborne artillery and land-based artillery, characterized in that: The following steps are involved: 1) Calibrate theodolite and adjust the level The calibration theodolite is mounted on a one-dimensional translation platform, the calibration theodolite degree plane is adjusted to be consistent with the ship's reference plane or the land-based plane, and the calibration theodolite is centered by translation of the translation platform; a tilt sensor is placed on the ship's or land-based reference line, and another tilt sensor is horizontally placed on the calibration theodolite, and they are respectively connected to a radio station, the radio station is connected to a computer, and the tilt sensor is directly connected to the computer; the theodolite is adjusted, and when the output data of the two tilt sensors in two directions are the same, the theodolite is leveled; when the theodolite is leveled, the translation platform is translated to ensure that the theodolite is centered on the ship's reference line; 2) Finding stars Use a computer and its software to find stars. When the star to be measured is about to arrive, point the aiming scope to the estimated arrival position of the star to be measured to find the target star to be measured; 3) Install the gun sight Insert the hollow shaft of the aiming scope into the gun barrel, connect the aiming scope to the computer through a wired or wireless network, and the computer collects images of the aiming scope in real time, processes the images, and aims at the stars; 4) Star tracking measurement Aim the calibration theodolite at the star to be measured, find the altitude angle and azimuth of the star to be measured by the computer and its software, and transmit the altitude angle data, point the gun barrel at the star, collect the image of the star by the aiming scope and the calibration theodolite at the same time, shake the star to the center of the field of view of the aiming scope in real time, adjust the image by the computer, calculate the horizontal angle and vertical angle of the star in the theodolite coordinate system, rotate the theodolite horizontally and vertically, point to the star, and track it; 5) Artillery azimuth and altitude calibration The computer and its software simultaneously collect the images of the stars to be measured on the aiming scope and the calibration theodolite, calculate the azimuth and altitude angle of the theodolite, and aim at the infinitely distant stars, which is the calibration value of the calibration gun's pointing, thereby realizing the calibration of the azimuth and altitude of shipborne artillery or roadbed artillery.

2. The method for calibrating the azimuth and altitude of shipborne artillery and land-based artillery according to claim 1 is characterized in that: The following steps are involved: 1) Calibrate theodolite and adjust the level The calibration theodolite leveling and centering are divided into two parts: theodolite leveling and theodolite centering. Theodolite leveling is the basis of all measurements. The horizontal reference plane of the hull is accurately leveled in the hull dock. When the horizontal reference plane of the theodolite is kept consistent with the horizontal reference plane of the hull during the swaying of the hull, the leveling of the theodolite can be achieved. The theodolite centering realizes the accurate centering of the theodolite to the central axis of the hull. Specifically, a one-dimensional translation stage is installed on the tripod, and the calibration theodolite is installed on the one-dimensional translation stage. The plane of the calibration theodolite dial is adjusted to be consistent with the datum plane of the ship or the land base, and then the calibration theodolite is centered by translation of the translation stage; a first high-precision two-dimensional inclination sensor is placed on the datum line of the ship or the land base, and at the same time, a high-precision two-dimensional inclination sensor is placed on the calibration latitude and longitude. A second high-precision two-dimensional inclination sensor is horizontally arranged on the theodolite, the first high-precision two-dimensional inclination sensor is connected to the first radio station, the second radio station is used in pairs with the first radio station, the second radio station is connected to a computer, the second high-precision two-dimensional inclination sensor is directly connected to the computer, the first radio station communicates with the second radio station, and data of the first high-precision two-dimensional inclination sensor is transmitted to the computer in real time. The computer controls and directly collects the inclination data of the second high-precision two-dimensional inclination sensor, adjusts the theodolite, and changes the output of the second high-precision two-dimensional inclination sensor. When the output data of the first high-precision two-dimensional inclination sensor and the second high-precision two-dimensional inclination sensor in two directions are the same, the leveling of the theodolite is achieved. After the theodolite is leveled, the translation stage is used to make the theodolite centered on the ship's datum line. If the theodolite disc plane is inconsistent with the ship's datum plane after translation, the above leveling and centering process is repeated. After 2 to 3 repeated adjustments, leveling and centering can be achieved. 2) Finding stars Use a computer and its software to find stars. The methods are: first, obtain the north position and altitude of the calibration theodolite telescope, that is, the theodolite orientation; second, obtain the latitude and longitude and time of the calibration theodolite location through the Beidou module model BD-772xTM; third, find the best star with a brightness greater than 4.2, a time of more than 30s between two adjacent observations of stars, and an altitude angle of 35°-45° from the known ephemeris table; Use computers and their software to search for stars. When a star to be measured is about to arrive, point the telescope to the estimated arrival position of the star to be measured. The time interval between two adjacent observed stars is greater than 30 seconds. This relaxes the requirements for star selection, greatly facilitates observation, and improves efficiency. 3) Install the gun sight Insert the aiming scope into the gun barrel. The aiming scope is connected to the computer through a wired or wireless network. The aiming scope is equipped with a 2.3 million pixel black and white camera. The computer collects images of the aiming scope in real time, processes the images, and aims at the stars. 4) Star tracking measurement Among the excellent stars found in step 2), a star is selected as the star to be measured, and the calibration theodolite is used to aim at the star to be measured. The elevation angle, azimuth and elevation angle data of the star to be measured found in step 2) are transmitted to the computer through a wireless network by a computer and its software, and displayed on a screen, the gun barrel is pointed at the star, and the image of the star is collected by the aiming gun scope and the calibration theodolite at the same time, the star is shaken to the center of the field of view of the aiming gun scope in real time, and the collected image is transmitted to the computer, the computer adjusts the image, calculates the horizontal angle and vertical angle of the star in the theodolite coordinate system, and the theodolite is rotated in the horizontal and vertical directions to point to the star, and track it; The method to calculate the horizontal angle and vertical angle of a star in the theodolite coordinate system is: Fix the measuring camera and the calibration theodolite relatively together, take pictures of the star to be measured, and use the computer to calculate the horizontal angle and vertical angle of the star to be measured based on the image taken by the measuring camera. When the point P (u, v) on the image is known, the camera coordinate system is O C (X C ,Y C ,Z C ), the coordinate system of the theodolite is O J (X J ,Y J ,Z J ), M1 is the conversion coefficient between the camera coordinate system and the image coordinate system, is the conversion relationship between the camera coordinate system and the theodolite coordinate system. The position relationship between the camera coordinate system and the image coordinate system is as follows: The position relationship between the theodolite coordinate system and the camera coordinate system is as follows: Combining the above two equations, we can get: Eliminate Z from the above formula C Calculate the coordinates of the target stars on n sets of unknown images in the theodolite coordinate system: P n (X nJ ,Y nJ ,Z nJ ), n is the number of target stars to be measured, n≥1; Calculate the horizontal angle and vertical angle of the star to be measured: Where: h n 、v n are the horizontal angle observation value and vertical angle observation value of the star to be measured, β0 represents the horizontal observation value represented by the collimation axis in the theodolite coordinate system, (X nJ ,Y nJ ,Z nJ ) represents the position of the star to be measured, P n (X nJ ,Y nJ ,Z nJ ) in the theodolite coordinate system; P n (X nJ ,Y nJ ,Z nJ )n is the number of target stars to be measured, n≥1; 5) Artillery azimuth and altitude calibration The computer and its software simultaneously collect the images of the stars to be measured on the aiming scope and the calibration theodolite, calculate the azimuth and altitude of the theodolite according to the images collected from the theodolite, and aim at the infinitely distant stars. When the azimuth and altitude of the theodolite are parallel to those of the aiming scope, the azimuth and altitude of the theodolite are the calibration values ​​of the calibration gun pointing, thereby realizing the calibration of the azimuth and altitude of shipborne artillery or roadbed artillery.

3. The method for calibrating the azimuth and altitude of shipborne artillery and land-based artillery according to claim 1 or 2, characterized in that: The aiming gun scope comprises a hollow shaft (1), a camera (3), a multi-channel interface communication power supply controller (5) and a tablet computer (6); the hollow shaft (1) is connected to an opening at the rear of the camera (3); the center of the hollow shaft (1) and the center of a lens (4) at the front end of the camera (3) are on the same axis to form an aiming structure; a camera data interface (3-1) on the camera (3) is connected to a camera communication interface (5-6) of the multi-channel interface communication power supply controller (5) via a transmission line; and the multi-channel interface communication power supply controller (5) and the tablet computer (6) are connected via a network data interface (5-2) in a wired or wireless manner.

4. The method for calibrating the azimuth and altitude of shipborne artillery and land-based artillery according to claim 3 is characterized in that: The multi-channel interface communication power supply controller (5) comprises a shell (5-5) and a control circuit installed in the shell (5-5); a wireless network antenna (5-1) is installed on the upper part of the shell (5-5); a network data interface (5-2) and a power switch (5-3) are provided on the front panel of the shell (5-5); a camera communication interface (5-6) and a multi-channel interface communication power supply controller switch (5-4) are provided on the front panel below the network data interface (5-2).

5. The method for calibrating the azimuth and altitude of shipborne artillery and land-based artillery according to claim 4 is characterized in that: The control circuit structure is that the power switch (5-3) on the housing (5-5) is connected to the controller switch (5-4), the power switch (5-3) is connected to the power detector (5-15), the inverter (5-14) and the power battery (5-13) installed in the housing (5-5), and is grounded, the controller switch (5-4) is respectively connected to the input end of the voltage stabilizer (5-12) installed in the housing (5-5) and the power input end of the router (5-7), the output end of the voltage stabilizer (5-12) is connected to the camera communication interface (5-6) on the housing (5-5), and the housing (5-5) is connected to the camera communication interface (5-6) on the housing (5-5). The level converter (5-11) is connected to the camera communication interface (5-6) via a transmission line, the level converter (5-11) is connected to the grounded signal isolator (5-10) via the transmission line, the signal isolator (5-10) is connected to the router (5-7) via the RS232 serial port (5-8) via the signal driver (5-9), the router (5-7) is connected to the wireless network antenna (5-16) on the housing (5-5) for receiving wireless network signals, and is connected to the network communication interface (3-1) of the camera (3) via the network data interface (5-2) on the housing (5-5) via the transmission line.

6. The method for calibrating the azimuth and altitude of shipborne artillery and land-based artillery according to claim 3 is characterized in that: The hollow shaft (1) is composed of multiple hollow rods connected in series via a locking device (2).

7. The method for calibrating the azimuth and altitude of shipborne artillery and land-based artillery according to claim 6 is characterized in that: The locking device (2) is composed of a circular locking hoop and a locking hoop fixing bolt.

8. The method for calibrating the azimuth and altitude of shipborne artillery and land-based artillery according to claim 4 is characterized in that: The shell (5-5) is a hollow square.

9. The method for calibrating the position and height of shipborne artillery and land-based artillery according to claim 4, characterized in that: The network data interface (5-2) is a gigabit network port and a 5GHz, 2.5GHz dual-band wireless network, and can communicate with the tablet computer (6) within a distance of more than 10 meters.

10. The method for calibrating the azimuth and altitude of shipborne artillery and land-based artillery according to claim 3 or 4, characterized in that: The multi-channel interface communication power supply controller (5) is a serial port server.

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