A method for azimuth and elevation calibration of shipborne and land-based artillery

Abstract

The present application relates to the method for calibrating the azimuth and elevation of shipborne artillery and land-based artillery, which can effectively solve the problems of low work efficiency, high operation difficulty and low accuracy and reliability, and the technical solution is as follows: 1) calibrating the leveling and centering of the theodolite; 2) finding the star; 3) installing the sighting telescope; 4) measuring the star tracking; 5) calibrating the azimuth and elevation of the artillery. The present application uses the calibration theodolite to quickly align the reference plane of the ship and the calibration theodolite, and then the system automatically selects the star with good highlight position for aiming, the automatic theodolite tracks and aims the star in real time, and guides the ship equipment to aim at the star. The system realizes the accurate aiming angle through angle calculation when the calibration theodolite and the ship equipment roughly aim, so as to realize the calibration of the azimuth and direction of the related equipment on the ship during the calibration and measurement process of the shipborne weapon, which is the innovation of the calibration of the shipborne artillery or land-based artillery.

Description

I. TECHNICAL FIELD

[0001] The present application relates to a measurement method, in particular to a method for calibrating the azimuth and elevation of a shipborne gun and a land-based gun. II. BACKGROUND

[0002] In the calibration measurement process of a shipborne gun and a land-based gun, the azimuth and elevation of the related equipment need to be unified to the reference azimuth and elevation of the ship or the land base. The existing calibration measurement method is to simultaneously aim at a star by using a theodolite and a star-sighting scope on the calibration equipment, to unify the pointing direction of the equipment to the azimuth and elevation reference of the theodolite, and then to realize the unification of the equipment to the reference azimuth and elevation of the ship or the land base by aiming at the reference line of the ship or the land base by the theodolite. However, there are problems in the calibration method, and 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 a star, the selection of the star generally relies on the human eye to distinguish in the sky, which leads to the fact that the selected star is not optimal in terms of elevation angle and brightness, and when the calibration time is too long and the earth is in the transmission during this period, the selected star cannot be effectively used to complete the entire calibration measurement process; 3) When the theodolite is used to aim at a star, the measurement personnel need to continuously observe the instrument for aiming and tracking, which consumes a lot of time and effort of the measurement personnel, and the theodolite cannot realize tracking and aiming at a star; 4) When the star-sighting scope on the equipment is used to aim at a star, the equipment needs to be continuously rotated to maintain the alignment state of the equipment and the star, which is time-consuming and labor-intensive, and it is difficult to realize the rough aiming of the star-sighting scope at a star and the accurate aiming angle; 5) The data synchronization of the theodolite and the star-sighting scope needs to be synchronized through voice instructions, which is low in efficiency; 6) The data processing needs to be calculated on site, which is low in processing efficiency and poor in accuracy and reliability. Therefore, improvement and innovation of the calibration method are imperative. III. SUMMARY

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

[0004] The technical solution solved by the present application is as follows:

[0005] 1) Calibrating the theodolite leveling and centering

[0006] The calibration theodolite is installed on a one-dimensional translation table, the calibration theodolite dial plane is adjusted to be consistent with the reference plane of the ship or the land base plane, and the centering of the calibration theodolite is realized through the translation of the translation table; the inclination sensor is placed on the reference line of the ship or the land base, and another inclination sensor is horizontally arranged on the calibration theodolite and is connected with the radio station respectively, the radio station is connected to the computer, and the inclination sensors are directly connected to the computer; the theodolite is adjusted, when the output data of the two inclination sensors in two directions are the same, the theodolite is leveled; when the theodolite is leveled, the centering of the theodolite to the reference line of the ship is ensured through the translation of the translation table;

[0007] 2) Finding a star

[0008] The star is found by using the computer and the software thereof, when the to-be-measured star is about to arrive, the gun sight is pointed to the expected arrival position of the to-be-measured star, and the to-be-measured target star is found out;

[0009] 3) Installing the gun sight

[0010] The hollow shaft of the gun sight is inserted into the barrel, the gun sight is connected with the computer through a wired or wireless network, the computer collects the image of the gun sight in real time, and the image is processed, and the star is aimed at;

[0011] 4) Star tracking measurement

[0012] The to-be-measured star is aimed at by using the calibration theodolite, the altitude angle and the azimuth angle of the to-be-measured star are found out by using the computer and the software thereof, the data are transmitted, the barrel is pointed to the star, the image of the star is collected by the gun sight and the calibration theodolite at the same time, the star is shaken to the center position of the field of view of the gun sight in real time, the computer adjusts the image, the horizontal angle and the vertical angle of the star in the coordinate system of the theodolite are calculated, the theodolite is rotated in the horizontal and vertical directions, is pointed to the star, and is tracked;

[0013] 5) Artillery azimuth and altitude calibration

[0014] The images of the to-be-measured star on the gun sight and the calibration theodolite are collected by using the computer and the software thereof at the same time, the azimuth and the altitude angle aimed at by the theodolite are calculated, the star is aimed at at infinity, and the calibration value of the gun pointing is obtained, so that the calibration of the azimuth and the altitude of the shipborne gun or the land base gun is realized.

[0015] This invention uses a calibration theodolite to quickly align the ship with the reference plane of the calibration theodolite. Then, the system automatically selects stars with good high brightness 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 the acquisition of a precise aiming angle through angle calculation when the calibration theodolite and the ship's equipment are roughly aligned. This enables the calibration measurement process of shipborne weapons to unify the azimuth and direction of relevant equipment on the ship to the ship's reference azimuth. It is easy to operate, has high work efficiency, fast testing speed, and high accuracy and reliability. It is an innovation in the calibration of shipborne or land-based artillery. IV. Description of the attached drawings

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

[0017] Figure 2 This is a flowchart illustrating the theodolite leveling process of the present invention.

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

[0019] Figure 4 This is a diagram illustrating the process of using a theodolite to track stars in this invention.

[0020] Figure 5 This is a structural diagram of the gun aiming scope of the present invention.

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

[0022] Figure 7 Block diagram of the control circuit structure for a multi-interface communication power supply controller. V. Detailed Implementation Methods

[0023] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0024] Depend on Figures 1-7 The present invention includes the following steps:

[0025] 1) Calibrate and level the theodolite.

[0026] like Figures 1-2As shown, the calibration theodolite leveling and centering is divided into theodolite leveling and theodolite centering, theodolite leveling is the basis of all measurements, the ship body horizontal reference plane is accurately leveled in the ship body dock, when the theodolite horizontal reference plane is kept consistent with the ship body horizontal plane during the ship body swaying, the leveling of the theodolite is realized, the theodolite centering realizes the accurate centering of the theodolite to the ship body central axis, specifically: a one-dimensional translation stage is installed on a tripod, the calibration theodolite is installed on the one-dimensional translation stage, the calibration theodolite degree disc plane is adjusted to be consistent with the ship or land-based reference plane, then the centering of the calibration theodolite is realized through the translation of the translation stage; a first high-precision two-dimensional tilt sensor is placed on the ship or land-based reference line, and a second high-precision two-dimensional tilt sensor is horizontally arranged on the calibration theodolite, the first high-precision two-dimensional tilt sensor is connected with a first radio station, a second radio station is used in pair with the first radio station, the second radio station is connected to a computer, the second high-precision two-dimensional tilt sensor is directly connected to the computer, the first radio station communicates with the second radio station, the data of the first high-precision two-dimensional tilt sensor is transmitted to the computer in real time, the computer controls the direct collection of the tilt data of the second high-precision two-dimensional tilt sensor, the theodolite is adjusted to change the output of the second high-precision two-dimensional tilt sensor, when the output data of the first high-precision two-dimensional tilt sensor and the second high-precision two-dimensional tilt sensor in two directions are the same, the theodolite leveling is realized;

[0027] When the theodolite is leveled, the theodolite is centered to the ship reference line through the translation of the translation stage, when the theodolite degree disc plane is inconsistent with the ship reference plane after translation, the above leveling and centering process is repeated, and the leveling and centering can be realized after 2-3 times of repeated adjustment;

[0028] The data transmission between different devices adopts two ways, one is the combination of wireless data transmission radio station and wifi, and the other is to use wifi network and industrial-grade wireless router; the data of the two tilt sensors is collected to the computer through wireless data transmission radio station;

[0029] The calibration theodolite centering and leveling takes no more than 20 minutes, and the adjustment accuracy is better than 10s;

[0030] 2) Finding a star

[0031] For example Figure 3To achieve the automatic star searching of the theodolite, three basic conditions must be met: 1. The north direction and the height of the theodolite telescope are obtained, that is, the theodolite is oriented; 2. The latitude and longitude of the location where the theodolite is located and the time are obtained; 3. The ephemeris of known stars is known, and the optimal star is automatically queried, that is: the computer and its software are used to find the star, the method is: 1. The north direction and the height of the theodolite telescope are obtained, that is, the theodolite is oriented; 2. The latitude and longitude of the location where the theodolite is located and the time are obtained through the Beidou module of model BD-772xTM; 3. The optimal star with brightness greater than 4.2, time interval between adjacent two observed stars greater than 30s, and altitude angle of 35°-45° is found from the known ephemeris;

[0032] The computer and its software are used to find the star, and when the to-be-measured star is about to arrive, the telescope is pointed to the expected arrival position of the to-be-measured star, the time interval between adjacent two observed stars is greater than 30 seconds, the requirement for star selection is relaxed, and the observation is greatly facilitated and the efficiency is improved;

[0033] The calibration theodolite has a motor drive function, can accurately rotate in the horizontal and vertical directions according to the user's instruction, the system software realizes the automatic searching of the to-be-measured star, and before astronomical latitude and longitude observation, the system software generates an observation star table according to the position and time information, lists the azimuth and altitude angle and altitude angle of the to-be-measured star when the to-be-measured star arrives at the constant altitude circle, and the theodolite automatically realizes the accurate aiming of the to-be-measured star;

[0034] The computer software has an automatic star searching function, and when the to-be-measured star is about to arrive, the system software drives the instrument to automatically point the telescope to the expected arrival position of the to-be-measured star;

[0035] 3) Install the gun sighting scope

[0036] Insert the gun sighting scope into the barrel, the gun sighting scope is connected with the computer through a wired or wireless network, the gun sighting scope is provided with a 230 million pixel black and white camera, the computer collects the image of the gun sighting scope in real time, processes the image, and aims at the star;

[0037] 4) Star tracking measurement

[0038] For example Figure 4As shown, the field of view image of the theodolite telescope is collected by CCD video eyepiece, the image center position relation with the measuring mark center is obtained by image processing, the rotation angle of the electronic theodolite is calculated, and the automatic accurate aiming is completed by control driving; the specific method is: in the optimal stars found in step 2), a star is selected as the to-be-measured star, the to-be-measured star is aimed by the calibration theodolite, the altitude angle and the azimuth and altitude angle data of the to-be-measured star found in step 2) are transmitted to the computer through the wireless network by the computer and the software, and are displayed on the screen, the barrel is pointed to the star, the image of the star is collected by the gun sighting mirror and the calibration theodolite at the same time, the star is shaken to the center position of the field of view of the gun sighting mirror in real time, the collected image is transmitted to the computer, the computer adjusts the image, calculates the horizontal angle and the vertical angle of the star in the theodolite coordinate system, and rotates the theodolite in the horizontal and vertical directions to point to the star and track;

[0039] The method for calculating the horizontal angle and the vertical angle of the star in the theodolite coordinate system is:

[0040] The measuring camera and the calibration theodolite are fixed together, the to-be-measured star is photographed, the horizontal angle and the vertical angle of the to-be-measured star are calculated by the computer according to the image photographed 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 calibration theodolite coordinate system is O J (X J ,Y J ,Z J ), M1 is the conversion coefficient of the camera coordinate system and the image coordinate, is the conversion relationship between the camera coordinate system and the theodolite coordinate system, and 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] The above two formulas are combined to obtain:

[0045]

[0046] Z C is eliminated from the above formula, and n groups of unknown coordinates of the target star in the theodolite coordinate system are calculated:

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

[0048] Calculate the horizontal angle and vertical angle of the target star:

[0049]

[0050] where: h n , v n are the observed values of the horizontal angle and vertical angle of the target star, respectively, 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 target star, P n (X nJ , Y nJ , Z nJ ) is the coordinate of the target star 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 elevation calibration

[0053] The computer and its software simultaneously collect the images of the target star on the sighting telescope and the calibration theodolite, calculate the azimuth and elevation angles of the theodolite according to the images collected by the theodolite, and calculate the azimuth and elevation angles of the sighting telescope according to the images collected by the sighting telescope, aiming at the star at infinity. When the azimuth and elevation angles of the theodolite are parallel to the azimuth and elevation angles of the sighting telescope, the azimuth and elevation angles of the theodolite are the calibration values of the artillery pointing, thereby realizing the calibration of the azimuth and elevation of the shipborne artillery or roadbed artillery.

[0054] In order to ensure the use effect and convenience, the sighting telescope structure is as shown in Figure 5 , including 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 with 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 a sighting structure, the camera data interface 3-1 on the camera 3 is connected with the camera communication interface 5-6 of the multi-channel interface communication power supply controller 5 through a transmission line, and the multi-channel interface communication power supply controller 5 is connected with the tablet computer 6 through a network data interface 5-2 by wire or wireless.

[0055] The multi-interface communication power supply controller 5 comprises a shell 5-5 and a control circuit arranged in the shell 5-5, a wireless network antenna 5-1 arranged on the upper part of the shell 5-5, a network data interface 5-2, a power switch 5-3, a camera communication interface 5-6 and a multi-interface communication power supply controller switch 5-4 arranged on the front panel of the shell 5-5.

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

[0057] The hollow shaft 1 is composed of a plurality of hollow rods connected through the 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 230-megapixel black-and-white camera.

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

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

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

[0064] When adopting wifi wireless transmission, only a wireless module is connected at the camera position in the gun sighting scope, the wireless module is set with a fixed IP address and is connected in a local area network, and the tablet computer only needs to access the fixed IP module to transmit the gun sighting scope built-in camera image to the tablet computer, and power supply adopts battery power supply.

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

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

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

[0068] 3. The instrument box of the automatic calibration system is powered by 220V power supply after conversion to power the calibration theodolite, so that the calibration theodolite is no longer dependent on the single power supply mode of the built-in battery, and the calibration theodolite can work for a long time without interruption, which saves the trouble of replacing the battery and ensures uninterrupted data communication between the calibration theodolite and the tablet computer.

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

[0070] 5. The system transmits data by using wireless data radio, wireless wifi and wired network, is flexible in networking, good in expansibility, and is plug and play;

[0071] 6. The calibration theodolite has a motor drive function, realizes tracking and measurement of the calibration theodolite on the stars, and does not need the measurement personnel to continuously observe the instrument for aiming, thereby saving a lot of time and energy of the measurement personnel;

[0072] 7. The use of computer automatic star searching technology requires that the time interval of adjacent two observed stars is greater than 30 seconds, which relaxes the requirement for star selection, greatly facilitates observation and improves efficiency, and the time required for the automatic star searching process is not more than 5 minutes.

[0073] 8. The computer software automatically processes data, and the measurement personnel do not need to calculate and calculate on site, thereby avoiding calculation errors.

[0074] 9. The multi-channel interface communication power supply controller has a UPS function, can work while charging the battery group of the instrument box when the 220V power supply is connected, and can work until the battery group is fully charged; work under the condition of disconnecting the 220V power supply, and the built-in battery group can work normally until the battery group is used up.

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

[0076] 11. Through experiments and field applications, this invention has proven to be simple in structure, easy to operate, convenient to use, effective, highly accurate, fast, and efficient, saving a significant amount of manpower and resources. Experiments and field applications have shown that the time required to calibrate orientation and altitude has been reduced from 4-5 hours per calibration to less than 1 hour, increasing efficiency several times over and saving more than 5 times the manpower and resources. The superior results were unexpected, demonstrating strong practical application value and significant economic and social benefits.

[0077] It should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any modifications or alterations made by those skilled in the art without departing from the scope of the present invention to create equivalent embodiments based on the disclosed technical content shall fall within the protection scope of the present invention.

Claims

1. A method of azimuth and elevation calibration of shipboard and land-based artillery, characterized in that, It comprises the following steps: 1) calibration theodolite leveling centering The calibration theodolite is installed on a one-dimensional translation table, the calibration theodolite dial plane is adjusted to be consistent with the reference surface of the ship or land-based surface, and the centering of the calibration theodolite is realized through the translation of the translation table; the inclination sensor is placed on the reference line of the ship or land-based surface, and another inclination sensor is horizontally arranged on the calibration theodolite, and they are respectively connected with the radio station, and the radio station is connected to the computer, and the inclination sensor is directly connected to the computer; the theodolite is adjusted, and when the output data of the two inclination sensors in two directions are the same, the theodolite is leveled; after the theodolite is leveled, the centering of the theodolite to the reference line of the ship is ensured through the translation of the translation table; 2) finding a star The computer and its software are used to find a star, and when the target star to be measured is about to arrive, the sighting telescope is pointed to the expected arrival position of the target star to be measured, and the target star to be measured is found; The method is: first, the north direction and the height of the calibration theodolite telescope are obtained, that is, the theodolite is oriented; second, the longitude and latitude of the position where the calibration theodolite is located and the time are obtained through the Beidou module of model BD-772xTM; third, the optimal star with a brightness greater than 4.2, a time greater than 30s between two adjacent observed stars and a height angle of 35°-45° is found from the known ephemeris table; 3) installing the sighting telescope The hollow shaft of the sighting telescope is inserted into the barrel, the sighting telescope is connected with the computer through wired or wireless network, the computer collects the images of the sighting telescope in real time, processes the images, and aims at the star; 4) star tracking measurement Among the optimal stars found in step 2), a star is selected as the target star to be measured, the target star to be measured is aimed at by the calibration theodolite, the height angle and the azimuth data of the target star to be measured found in step 2) are transmitted to the computer through the wireless network by the computer and its software, and are displayed on the screen, the barrel is pointed to the target star to be measured, the images of the target star to be measured are collected by the sighting telescope and the calibration theodolite at the same time, the target star to be measured is shaken to the center of the field of view of the sighting telescope in real time, the collected images are transmitted to the computer, the computer adjusts the images, calculates the horizontal angle and the vertical angle of the target star to be measured in the theodolite coordinate system, rotates the theodolite in the horizontal and vertical directions, points to the target star to be measured, and tracks; The method for calculating the horizontal angle and the vertical angle of the target star to be measured in the theodolite coordinate system is: The measuring camera is fixed with the calibration theodolite, and the target star is photographed. The horizontal angle and vertical angle of the target star are calculated by the computer according to the image taken by the measuring camera. When the point on the image is It is known that the camera coordinate system is The calibration theodolite coordinate system is , The conversion coefficient of the camera coordinate system and the image coordinate is The conversion relationship between the camera coordinate system and the theodolite coordinate system is as follows: Formula (1) The positional relationship between the theodolite coordinate system and the camera coordinate system is as follows: Formula (2) According to the above two formulas, the horizontal angle and the vertical angle of the target star to be measured are calculated as follows: Formula (3) The above formula is eliminated The coordinates of the target star in the theodolite coordinate system on n groups of unknown images are calculated: ； 5) gun azimuth and height calibration Equation (4), Equation (5), wherein: respectively represent the horizontal angle observation value and the vertical angle observation value of the target star to be measured, represents the horizontal observation value represented by the collimation axis in the theodolite coordinate system, represents the position of the target star to be measured; The images of the target star to be measured collected by the sighting telescope and the calibration theodolite are collected by the computer and its software at the same time, the azimuth and the height angle aimed at by the theodolite are calculated according to the images collected by the theodolite, and the azimuth and the height angle aimed at by the sighting telescope are calculated according to the images collected by the sighting telescope, the star is aimed at infinity, when the azimuth and the height angle of the theodolite are parallel to the azimuth and the height angle of the sighting telescope, the azimuth and the height angle aimed at by the theodolite are the calibration values of the gun pointing direction, thereby realizing the calibration of the azimuth and the height of the shipborne gun or land-based gun. In step 1), the calibration theodolite leveling centering is specifically:

2. The ship-based artillery and land-based artillery azimuth and elevation calibration method of claim 1, wherein, ​ The leveling and centering of the calibration theodolite comprises two parts of theodolite leveling and theodolite centering, and the theodolite leveling is the basis of all measurements. The ship body horizontal reference plane is accurately leveled in the ship body dock. When the theodolite horizontal reference plane is kept consistent with the ship body horizontal plane during the ship body swaying, the leveling of the theodolite is realized. The theodolite centering realizes the accurate centering of the theodolite to the ship body central axis. Specifically, a one-dimensional translation table is installed on a tripod, the calibration theodolite is installed on the one-dimensional translation table, the calibration theodolite degree disc plane is adjusted to be consistent with the ship body reference plane or land-based plane, and then the centering of the calibration theodolite is realized through the translation of the translation table. A first high-precision two-dimensional inclination sensor is placed on the ship body or land-based reference line, and a second high-precision two-dimensional inclination sensor is horizontally arranged on the calibration theodolite. The first high-precision two-dimensional inclination sensor is connected with a first radio station, the second radio station is used in pair 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, the data of the first high-precision two-dimensional inclination sensor is transmitted to the computer in real time, the computer controls the direct collection of the inclination data of the second high-precision two-dimensional inclination sensor, the theodolite is adjusted, the output of the second high-precision two-dimensional inclination sensor is changed, and when the outputs 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 realized. After the leveling of the theodolite, the theodolite is centered to the ship body reference line through the translation of the translation table. When the degree disc plane of the theodolite is inconsistent with the ship body reference plane after the translation, the above leveling and centering process is repeatedly performed, and the leveling and centering can be realized after 2-3 times of repeated adjustment. In the step 3), the sighting telescope is provided with a 230 million pixel black and white camera.

3. The method of azimuth and elevation calibration of shipborne and ground-based artillery according to claim 1 or 2, characterized in that, The sighting telescope comprises a hollow shaft (1), a camera (3), a multi-interface communication power supply controller (5) and a tablet computer (6). The hollow shaft (1) is connected with 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 a sighting structure, a network communication interface (3-1) on the camera (3) is connected with a camera communication interface (5-6) of the multi-interface communication power supply controller (5) through a transmission line, and the multi-interface communication power supply controller (5) is wired or wirelessly connected with the tablet computer (6) through a network data interface (5-2).

4. The method of claim 3, wherein The multi-interface communication power supply controller (5) comprises a shell (5-5) and a control circuit arranged in the shell (5-5). A wireless network antenna (5-1) is arranged on the upper part of the shell (5-5), a network data interface (5-2), a power switch (5-3), a camera communication interface (5-6) and a multi-interface communication power supply controller switch (5-4) are arranged on the front panel of the shell (5-5).

5. The ship-based artillery and land-based artillery azimuth and elevation calibration method of claim 4, wherein, The control circuit structure is that the power switch (5-3) on the shell (5-5) is connected with the controller switch (5-4), the power switch (5-3) is connected with the power detector (5-15), the inverter (5-14) and the power battery (5-13) installed in the shell (5-5) and grounded, the controller switch (5-4) is connected with the input end of the voltage stabilizer (5-12) and the power input end of the router (5-7) installed in the shell (5-5) respectively, the output end of the voltage stabilizer (5-12) is connected with the camera communication interface (5-6) on the shell (5-5), the level converter (5-11) in the shell (5-5) is connected with the camera communication interface (5-6) through the transmission line, the level converter (5-11) is connected with the signal isolator (5-10) grounded through the transmission line, the signal isolator (5-10) is connected with the router (5-7) by the Rs232 serial port (5-8) through the signal driver (5-9), the router (5-7) is connected with the wireless network antenna (5-16) on the shell (5-5) for receiving wireless network signals and is connected with the network communication interface (3-1) of the camera (3) through the network data interface (5-2) on the shell (5-5) through the transmission line.

6. The shipboard gun and ground-based gun azimuth and elevation calibration method of claim 3, wherein, The hollow shaft (1) is composed of multiple hollow rods connected together through the locking device (2).

7. The ship-based artillery and land-based artillery azimuth and elevation calibration method of claim 6, wherein, The locking device (2) is composed of a circular lock hoop and a lock hoop fixing bolt.

8. The shipboard gun and land-based gun azimuth and elevation calibration method of claim 4 wherein, The shell (5-5) is a hollow square.

9. The shipboard gun and land-based gun azimuth and elevation calibration method of claim 4 wherein, The network data interface (5-2) is a gigabit network port and a 5GHz, 2.5GHz dual-frequency wireless network, which can communicate with the tablet computer (6) at a distance greater than 10 meters.

10. The method of claim 4, wherein The multi-interface communication power supply controller (5) is a serial port server.

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