Irradiation array plane shipping calibration method

Abstract

The invention relates to an irradiation array plane shipping calibration method, which can effectively solve the calibration problem of the horizontal orientation and elevation angle of an irradiation array plane on a ship and a ship datum line, and adopts the technical scheme that an irradiation array plane shipping calibration system is utilized, and then the method comprises the following steps: 1) calibrating the relation between the irradiation array plane and a calibration theodolite dial; 2) calibrating an irradiation array surface on a ship; 3) calculating the azimuth adjustment amount of the irradiation array plane; according to the method, the orientation of an irradiation array plane antenna is converted into a fixed reading relation on a horizontal dial and a vertical dial of a theodolite by means of calibration of the theodolite, and then an orientation conversion relation is established between the theodolite and a photoelectric aiming device or other aiming devices on a ship; the calibration of the horizontal direction and the elevation angle of the irradiation array plane on the ship and the ship datum line is completed through conversion, the selected fixed star can be automatically aimed and tracked, the use effect is good, the practicability is high, and the method is an innovation of the irradiation array plane shipping calibration method.

Description

1. Technical Field

[0001] The invention relates to the field of antenna technology, and in particular to a method for calibrating an irradiation array surface on a ship. 2. Background Technology

[0002] At present, the pointing direction of the ship-borne illumination array antenna cannot be intuitively reflected and operated under field conditions. Therefore, it is necessary to use the theodolite calibration to convert the pointing direction of the illumination array antenna to a fixed reading relationship on the horizontal and vertical dials of the theodolite. After the product is installed, the theodolite and the optoelectronic aiming device or other aiming devices on the ship establish an azimuth conversion relationship, and the horizontal azimuth and elevation angle of the illumination array on the ship and the ship's reference line are calibrated after conversion. Therefore, it is imperative to invent a method for calibrating the illumination array on a ship. 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 illumination array on a ship, which can effectively solve the calibration problem of the horizontal azimuth and elevation angle of the illumination array on the ship and the ship's baseline.

[0004] The technical solution of the present invention is to use the irradiation array to install the ship calibration system, and then proceed according to the following steps:

[0005] 1) Calibration of the relationship between the irradiation array and the calibration theodolite plate

[0006] Fix the calibration theodolite base to a certain position of the illumination array, select a target at a distance, the target must ensure that the illumination array can be accurately identified, the theodolite can be accurately aimed, and the normal direction of the illumination array is accurately aligned with the target; place the theodolite on the illumination array antenna, accurately aim at the target, and record the horizontal and vertical angle readings of the calibration theodolite. At this time, the horizontal angle (recorded as a1) and vertical angle (v1) readings of the calibration theodolite are the normal azimuth constants of the illumination array and the calibration theodolite;

[0007] 2) Calibration of the illumination array on board

[0008] Place the calibration theodolite on the base embedded before the illumination array leaves the factory, turn off the automatic compensation function, roughly aim the normal direction of the illumination array at the star body, use the theodolite to accurately aim at the star, and use the software to enable the calibration theodolite to track and accurately aim at the star in real time and display the azimuth (a2) and altitude (v2) data; at the same time, accurately aim the optoelectronic aiming device at the same star, and obtain the azimuth (A) and altitude (V) of the optoelectronic aiming device;

[0009] 3) Calculation of the azimuth adjustment of the illumination array

[0010] When the normal direction of the illumination array is aimed at the target, the horizontal azimuth reading of the theodolite is a1, and the vertical azimuth reading of the theodolite is v1. Assuming that when the photoelectric aiming device accurately aims at the target, the horizontal reading is A, the height reading is V, the horizontal reading of the theodolite on the illumination array is a2, and the vertical reading is V2. At this time, the adjustment amount of the horizontal azimuth of the theodolite when the normal direction of the illumination array is aimed at the target is:

[0011] a′=(a2-a1)-A

[0012] The adjustment of the height azimuth of the theodolite is:

[0013] v′=(v2-v1)-V.

[0014] The invention converts the pointing of the illumination array antenna to a fixed reading relationship on the horizontal and vertical scales of the theodolite by means of theodolite calibration, then establishes an azimuth conversion relationship between the theodolite and an optoelectronic aiming device or other aiming devices on board, completes the calibration of the horizontal azimuth and elevation angle of the illumination array on board with the ship's reference line through conversion, can automatically aim and track the selected stars, has good use effect, is highly practical, and is an innovation in the method of calibrating the illumination array on board a ship. IV. Description of the drawings

[0015] Figure 1 It is a schematic diagram of the internal structure of the theodolite of the present invention.

[0016] Figure 2 This is a functional schematic diagram of the calibration software module of the present invention.

[0017] Figure 3 This is a processing flow chart of the automatic star tracking module of the theodolite of the present invention. V. Specific implementation methods

[0018] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0019] Depend on Figure 1-3 The present invention uses an illumination array mounted ship calibration system. The principle of the illumination array mounted ship calibration system is to calibrate the azimuth angle and elevation angle of the deck theodolite to be consistent with the ship's reference line. When the deck theodolite and other equipment aim at the same target, the reading after the deck theodolite calibration is assumed to be the true value, and then the following steps are performed:

[0020] 1) Calibration of the relationship between the irradiation array and the calibration theodolite plate

[0021] Fix the calibration theodolite base to a certain position of the illumination array, select a target at a distance, the target must ensure that the illumination array can be accurately identified, the theodolite can be accurately aimed, and the normal direction of the illumination array is accurately aligned with the target; place the theodolite on the illumination array antenna, accurately aim at the target, and record the horizontal and vertical angle readings of the calibration theodolite. At this time, the horizontal angle (recorded as a1) and vertical angle (v1) readings of the calibration theodolite are the normal azimuth constants of the illumination array and the calibration theodolite;

[0022] 2) Calibration of the illumination array on board

[0023] Place the calibration theodolite on the base embedded before the irradiation array leaves the factory, turn off the automatic compensation function, roughly aim the normal direction of the irradiation array at the star body, use the theodolite to accurately aim at the star, and use the software to enable the calibration theodolite to track and accurately aim at the star in real time and display the azimuth (a2) and altitude (v2) data; at the same time, accurately aim the optoelectronic aiming device at the same star, and obtain the azimuth (A) and altitude (V) of the optoelectronic aiming device.

[0024] 3) Calculation of the azimuth adjustment of the illumination array

[0025] When the normal direction of the illumination array is aimed at the target, the horizontal azimuth reading of the theodolite is a1, and the vertical azimuth reading of the theodolite is v1. Assuming that when the photoelectric aiming device accurately aims at the target, the horizontal reading is A, the height reading is V, the horizontal reading of the theodolite on the illumination array is a2, and the vertical reading is V2. At this time, the adjustment amount of the horizontal azimuth of the theodolite when the normal direction of the illumination array is aimed at the target is:

[0026] a′=(a2-a1)-A

[0027] The adjustment of the height azimuth of the theodolite is:

[0028] v′=(v2-v1)-V.

[0029] In order to ensure the use effect, in the step 1), the theodolite accurately aims at the target including the following steps:

[0030] 1) The theodolite is leveled, and the plane of the theodolite disk is kept consistent with the reference plane of the hull during the hull shaking process;

[0031] 2) Theodolite alignment: accurately align the theodolite to the datum line of the ship;

[0032] 3) Theodolite measurement: after completing the leveling and centering, the reading of the theodolite is consistent with the hull, and the reading of the theodolite can be used as the true value of other equipment;

[0033] 4) The deck theodolite and the illumination array theodolite aim at the measurement target at the same time, and the illumination array ship-mounted calibration system synchronously processes the measurement data of the two theodolites and outputs the deviation between the zero position of the illumination array theodolite and the ship's baseline.

[0034] The irradiation array shipboard calibration system is composed of an electronic theodolite, a system computer, and a set of calibration software, which are synchronously connected via cables, and realize command collection, data synchronous collection, automatic processing and display of measurement data, data output and prompts, report generation, etc.

[0035] The calibration software includes a theodolite rough orientation and calibration module, an automatic star tracking measurement module and a data processing and analysis module; the theodolite rough orientation and calibration module is responsible for calibrating the relationship between the irradiation array and the theodolite degree plate, the system rough orientation, manually inputting the instrument to rotate to a specified position and calibrating the rough direction of true north; the automatic star tracking measurement module is responsible for the star automatic tracking function, the fixed target aiming function and the theodolite aiming at stars or fixed targets; the data processing and analysis module is responsible for calculating and analyzing data and outputting data.

[0036] The calibration functions of the system of the present invention include: the relationship between the electronic theodolite on the irradiation array and the attitude of the irradiation array system, the joint collection of readings of the electronic theodolite on the irradiation array and the electronic theodolite on the deck, and the automatic aiming and angle measurement of the electronic theodolite to the target. The electronic theodolite should have the function of fully automatic and rapid aiming at the designated target star, such as the North Star. Since the electronic theodolite on one irradiation surface is used for the calibration of four irradiation surfaces, the theodolite should have at least four separate modules so that it can switch to the respective modules corresponding to each array surface during calibration, ensure that the connection line between the electronic theodolite on the irradiation surface and its customized system computer is not less than 3m for personnel operation, and the electronic theodolite on the irradiation array and the theodolite on the deck can be wired and wirelessly connected. The electronic theodolite can automatically aim and track the selected stars, with a tracking accuracy better than 20″, a tracking speed better than 10° / second, and the theodolite accurately aims at the stars or the angle accuracy after conversion is better than 10″.

[0037] The present invention adopts CT122A calibration theodolite, which has the following characteristics:

[0038] 1) Static degree disk: The theodolite adopts static degree disk technology. When the position of the theodolite degree disk remains unchanged, the horizontal azimuth reference remains unchanged; when the vertical index of the theodolite is not adjusted, the instrument height reference remains unchanged.

[0039] 2) Built-in camera: The calibration theodolite has a built-in measuring camera that can identify the target point, automatically and accurately track and aim at the target point, and measure the azimuth and altitude of the target point in real time. The target point can be the sun, a star, a camera target, or a point or circular luminous body.

[0040] 3) Horizontal automatic compensator switch

[0041] The theodolite is equipped with an automatic compensator, and the compensator switch can be turned off when not needed. Since the usual measurement datum of the theodolite is the geoid or plumb line, in order to improve the measurement accuracy, modern theodolites are equipped with automatic compensators to ensure that the theodolite datum or datum line is always consistent with the geoid or plumb line during the measurement process. In this task, since the illumination array orientation needs to be fixed to the theodolite, the illumination array does not need to be consistent with the geoid, and the automatic compensation function of the theodolite is not needed during the calibration process.

[0042] 4) Outstanding features: The outstanding feature of the calibration theodolite is that it can automatically track and accurately aim at the target, and can measure the target's azimuth and altitude in real time. The target can be the sun, a star or other round luminous body, and the target can be very bright or dark. Because the theodolite can automatically track and accurately aim at the target in real time, it can achieve synchronous calibration during the calibration process, and its accuracy is higher than that of ordinary theodolites.

[0043] Working principle of theodolite automatic aiming:

[0044] The working principle is to use CCD imaging technology in conjunction with image processing technology to directly use the CCD at the eyepiece end to replace the human eye to aim at the measurement target. The CCD collects the image of the target star for analysis, extracts the image for positioning, and determines whether the center of the target star coincides with the center of the objective lens image based on the imaging. If there is no accurate aiming, the angle that the electronic theodolite needs to rotate is calculated, and the motor theodolite is controlled to rotate and aim, and then it is determined whether it is accurately aimed, and it is repeated until it reaches accurate aiming. It can be described in space. Adding imaging CCD to the eyepiece and using CCD camera imaging instead of human eye aiming can improve measurement accuracy and speed, so that the measurement accuracy is not affected by human factors.

[0045] The theodolite automatic precision aiming module collects the measurement mark image through the CCD at the eyepiece end, performs image processing to obtain the coincidence between the measurement mark center and the image center, calculates the rotation angle of the deck theodolite, and controls the drive to complete the automatic aiming function.

[0046] The irradiation array shipboard calibration system of the present invention is composed of the following:

[0047]

[0048] The calibration software can synchronously connect the measuring equipment including theodolite and other auxiliary equipment, and realize command distribution, synchronous data collection, automatic processing and display of measurement data, data output and prompt, and report generation. The calibration functions include: the relationship between the electronic theodolite on the irradiation array and the attitude of the irradiation array system, the joint collection of readings of the electronic theodolite on the irradiation array and the electronic theodolite on the deck, and the calibration of the electronic theodolite to the target. The operation is simple and the steps are clear. It can process three calibration methods at the same time, including: calibration by aiming at stars, calibration by aiming at the sun, and calibration by aiming at fixed targets.

[0049] The calibration software mainly consists of four main modules: theodolite rough orientation and calibration module, automatic tracking star measurement module, and data processing and analysis module. Each functional module also needs to realize different functions according to the measurement process. The illumination array shipboard calibration software mainly realizes the following functions:

[0050] 1) Theodolite rough orientation and calibration module

[0051] Before the theodolite module works, it includes theodolite leveling and theodolite centering. Theodolite leveling is the basis of all measurement work. The horizontal datum plane of the hull is to accurately level the hull in the dock. If the horizontal datum plane of the theodolite is kept consistent with the horizontal datum plane of the hull during the hull shaking process, the theodolite can be leveled. Theodolite centering can realize the accurate centering of the theodolite to the center axis of the hull. The approximate orientation of the theodolite is that the theodolite disk will be calibrated to zero degree before the theodolite leaves the factory, and the approximate true north direction is used as the zero degree direction of the theodolite disk.

[0052] After the theodolite is installed on the irradiation array, it is necessary to calibrate the angle between the theodolite degree plate and the irradiation array direction in a darkroom. After the data is calibrated, it is saved in the computer software.

[0053] 2) Automatic tracking of star measurements

[0054] The field of view image of the theodolite telescope is collected through CCD video, and the image processing is performed to obtain the position relationship between the center of the measurement mark and the center of the image, the rotation angle of the electronic theodolite is calculated, and the control drive is used to complete the automatic precise aiming function. The processing flow of the theodolite automatic tracking star module is as follows: Figure 3 shown.

[0055] 3) Data processing and analysis

[0056] The system collects measurement data from measuring equipment, including angle data collected by the theodolite and image data collected by the theodolite CCD. The system automatically processes and displays the measurement data to achieve data output and report generation.

[0057] The system calibration steps of the present invention are:

[0058] 1) Calibration of the relationship between the irradiation array and the calibration theodolite plate

[0059] Fix the calibration theodolite base to a certain position of the illumination array, select a target at a distance, the target must ensure that the illumination array can be accurately identified and the theodolite can be accurately aimed. Accurately align the normal direction of the illumination array with the target; place the theodolite on the illumination array antenna, accurately aim at the target, and record the horizontal and vertical angle readings of the calibration theodolite. At this time, the horizontal angle (denoted as a1) and vertical angle (v1) readings of the calibration theodolite are the normal azimuth constants of the illumination array and the calibration theodolite.

[0060] 2) Calibration of the illumination array on board

[0061] The calibration of the illumination array on the ship is actually to calibrate the relationship between the normal azimuth of the illumination array and the azimuth of the optoelectronic aiming equipment on the ship, and adjust the normal azimuth of the illumination array to be consistent with the optoelectronic aiming azimuth.

[0062] Place the calibration theodolite on the base embedded before the irradiation array leaves the factory, turn off the automatic compensation function, roughly aim the normal direction of the irradiation array at the star body, use the theodolite to accurately aim at the star, and use the software to enable the calibration theodolite to track and accurately aim at the star in real time and display the azimuth (a2) and altitude (v2) data; at the same time, accurately aim the optoelectronic aiming device at the same star, and obtain the azimuth (A) and altitude (V) of the optoelectronic aiming device.

[0063] 3) Calculation of the azimuth adjustment of the illumination array

[0064] ① Calculation of the consistency between the zero azimuth of the theodolite and the normal direction of the illumination array:

[0065] The normal direction of the illumination array is numerically expressed in the theodolite degree plate. When the normal direction of the illumination array is aligned with the target, the horizontal azimuth reading of the theodolite is a1, and the vertical azimuth reading of the theodolite is v1.

[0066] ② Calculation of the consistency between the normal azimuth of the illumination array and the direction of the photoelectric aiming device:

[0067] Assume that when the optoelectronic aiming device is accurately aimed at the target, the horizontal reading is A, the height reading is V, the horizontal reading of the theodolite on the illumination array is a2, and the vertical reading is V2. At this time, the adjustment amount of the horizontal azimuth of the theodolite when the normal direction of the illumination array is aimed at the target is:

[0068] a′=(a2-a1)-A

[0069] The adjustment of the height azimuth of the theodolite is:

[0070] v′=(v2-v1)-V.

[0071] After the product of the present invention is installed, the pointing direction of the irradiation array antenna is converted to a fixed reading relationship on the horizontal and vertical scales of the theodolite by means of theodolite calibration, and then the azimuth conversion relationship is established between the theodolite and the photoelectric aiming device or other aiming devices on board. After conversion, the horizontal azimuth and altitude angle of the irradiation array on board and the calibration of the ship's reference line are completed. The electronic theodolite can automatically aim and track the selected stars, with a tracking accuracy better than 20", a tracking speed better than 10° / second, and the theodolite can accurately aim at the stars or the angle accuracy after conversion is better than 10", with good use effect and strong practicality, which is an innovation in the method of irradiation array installation and calibration, and has good economic and social benefits.

[0072] 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 an illumination array, characterized in that: Use the irradiation array to calibrate the system, and then follow the steps below: 1) Calibration of the relationship between the irradiation array and the calibration theodolite plate Fix the calibration theodolite base to a certain position of the illumination array, select a target at a distance, the target must ensure that the illumination array can be accurately identified, the theodolite can be accurately aimed, and the normal direction of the illumination array is accurately aligned with the target; place the theodolite on the illumination array antenna, accurately aim at the target, and record the horizontal and vertical angle readings of the calibration theodolite. At this time, the horizontal angle a1 and vertical angle v1 readings of the calibration theodolite are the normal azimuth constants of the illumination array and the calibration theodolite; 2) Calibration of the illumination array on board Place the calibration theodolite on the base pre-buried before the irradiation array leaves the factory, turn off the automatic compensation function, roughly aim the normal direction of the irradiation array at the star body, use the theodolite to accurately aim at the star, and use the software to enable the calibration theodolite to track and accurately aim at the star in real time and display the azimuth a2 and altitude v2 data; at the same time, accurately aim the photoelectric aiming device at the same star, and obtain the azimuth A and altitude V of the photoelectric aiming device; 3) Calculation of the azimuth adjustment of the illumination array When the normal direction of the illumination array is aimed at the target, the horizontal azimuth reading of the theodolite is a1, and the vertical azimuth reading of the theodolite is v1. Assuming that when the photoelectric aiming device accurately aims at the target, the horizontal reading is A, the height reading is V, the horizontal reading of the theodolite on the illumination array is a2, and the vertical reading is V2. At this time, the adjustment amount of the horizontal azimuth of the theodolite when the normal direction of the illumination array is aimed at the target is: a′=(a2-a1)-A The adjustment of the height azimuth of the theodolite is: v′=(v2-v1)-V.

2. The method for calibrating the illumination array according to claim 1, characterized in that: In the step 1), the theodolite accurately sighting the target comprises the following steps: 1) The theodolite is leveled, and the plane of the theodolite disk is kept consistent with the reference plane of the hull during the hull shaking process; 2) Theodolite alignment: accurately align the theodolite to the datum line of the ship; 3) Theodolite measurement: after completing the leveling and centering, the reading of the theodolite is consistent with the hull, and the reading of the theodolite can be used as the true value of other equipment; 4) The deck theodolite and the illumination array theodolite aim at the measurement target at the same time, and the illumination array ship-mounted calibration system synchronously processes the measurement data of the two theodolites and outputs the deviation between the zero position of the illumination array theodolite and the ship's baseline.

3. The method for calibrating the illumination array according to claim 1, characterized in that: The irradiation array shipboard calibration system is composed of an electronic theodolite, a system computer, and a set of calibration software, which are synchronously connected via cables, and realize command collection, data synchronous collection, automatic processing and display of measurement data, data output and prompting, and report generation.

4. The method for calibrating the illumination array according to claim 3, characterized in that: The calibration software includes a theodolite rough orientation and calibration module, an automatic star tracking measurement module and a data processing and analysis module; the theodolite rough orientation and calibration module is responsible for calibrating the relationship between the irradiation array and the theodolite degree plate, the system rough orientation, manually inputting the instrument to rotate to a specified position and calibrating the rough direction of true north; the automatic star tracking measurement module is responsible for the star automatic tracking function, the fixed target aiming function and the theodolite aiming at stars or fixed targets; the data processing and analysis module is responsible for calculating and analyzing data and outputting data.

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