Correction method and device, equipment and storage medium

Abstract

The embodiment of the invention provides a correction method and device, equipment and a storage medium, and relates to the technical field of sighting telescopes. The specific implementation scheme is as follows: acquiring a first correction parameter corresponding to a first crossover table; according to the first correction parameter, correcting the coordinate of the first cross shot table; obtaining a pre-constructed mapping relation; wherein the mapping relationship represents a corresponding relationship between the coordinate variation of the first cross shot table and the coordinate variation of the second cross shot table; and based on the obtained mapping relation and the first correction parameter, determining a target coordinate to which the second cross firing table is to be adjusted, and adjusting the second cross firing table to the target coordinate. Therefore, according to the scheme, the correction efficiency can be improved to realize rapid correction.

Description

Technical Field

[0001] The present application relates to the technical field of sights, and in particular to a calibration method, device, equipment and storage medium. Background Art

[0002] Before the launcher launches a missile, a calibration operation is usually required to ensure the launch accuracy. The calibration operation is completed by aiming the crosshair table of the electronic sight installed on the launcher at the target to be aimed at, then launching, and adjusting the crosshair table to coincide with the imaging position of the missile landing point according to the imaging position of the missile landing point in the electronic sight.

[0003] In order to adapt to more launch environments, multiple electronic sights are installed on the launch device at the same time. For example, a visible light sight and a thermal imaging sight are installed at the same time. Then, when performing a calibration operation, if the aiming distance changes, it is necessary to use the crosshairs of each electronic sight to aim at the target at the new aiming distance, and then launch and adjust the crosshairs of the electronic sight according to the location of the missile landing point. Then, every time the aiming distance changes, multiple launches are required to readjust the crosshairs of multiple electronic sights, which is complicated and leads to low calibration efficiency.

[0004] Therefore, how to improve the efficiency of correction to achieve rapid correction has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a correction method, device, equipment and storage medium to improve the efficiency of correction. The specific technical solution is as follows:

[0006] In a first aspect, an embodiment of the present application provides a calibration method, which is applied to a dual-light path sight, wherein the first light path sight corresponds to a first crosshair table, and the second light path sight corresponds to a second crosshair table, and the method comprises:

[0007] Obtaining a first correction parameter corresponding to a first cross-shooting table;

[0008] Correcting the coordinates of the first crosshair table according to the first correction parameter;

[0009] Acquire a pre-built mapping relationship; wherein the mapping relationship represents: a corresponding relationship between the coordinate change amount of the first cross-ray table and the coordinate change amount of the second cross-ray table;

[0010] Based on the acquired mapping relationship and the first correction parameter, the target coordinates to which the second cross-reference table is to be adjusted are determined, and the second cross-reference table is adjusted to the target coordinates.

[0011] Optionally, the obtaining a first correction parameter corresponding to the first cross-referencing table includes:

[0012] For the same target point at the first aiming distance, obtaining a first coordinate of the first crosshair table when a first imaging point of the target point in the first optical path sight coincides with the first crosshair table, and a second imaging point of the target point in the second optical path sight coincides with the second crosshair table;

[0013] Acquire the third coordinate of the first crosshair table when the dual-optical path sight is in the first firing posture; wherein, when the dual-optical path sight is in the first firing posture, the first crosshair table coincides with the third imaging point of the to-be-aimed point at the second aiming distance in the first optical path sight;

[0014] A coordinate change amount between the third coordinate and the first coordinate is calculated as a first correction parameter.

[0015] Optionally, before determining the target coordinates to which the second cross-reference table is to be adjusted based on the acquired mapping relationship and the first correction parameter, the method further includes:

[0016] For the same target point at the first aiming distance, obtaining a second coordinate of the second crosshair table when a first imaging point of the target point in the first optical path sight coincides with the first crosshair table, and a second imaging point of the target point in the second optical path sight coincides with the second crosshair table;

[0017] The determining, based on the acquired mapping relationship and the first correction parameter, the target coordinates to which the second cross-reference table is to be adjusted, and adjusting the second cross-reference table to the target coordinates, comprises:

[0018] According to the second coordinates and the first correction parameters, the target coordinates to which the second crosshair table is to be adjusted under the first launching posture are calculated using the acquired mapping relationship, and the second crosshair table is adjusted to the target coordinates so that the second crosshair table coincides with the fourth imaging point of the point to be aimed at in the second optical path sight.

[0019] Optionally, the mapping relationship includes a first sub-mapping relationship based on a preset compensation parameter; the preset compensation parameter is used to compensate for: a difference between a coordinate change amount when the first crosshair table successively coincides with imaging points of two target points at the same aiming distance under the same launch posture, and a coordinate change amount when the second crosshair table successively coincides with imaging points of the two target points under the same launch posture;

[0020] Calculating the target coordinates to which the second crosshair table is to be adjusted under the first launch posture by using the acquired mapping relationship according to the second coordinates and the first correction parameter, includes:

[0021] According to the second coordinates and the first correction parameters, the preset compensation parameters are used to calculate the target coordinates to which the second crosshair table is to be adjusted in the first launch posture.

[0022] Optionally, the mapping relationship further includes a second sub-mapping relationship based on the distance compensation amount; the distance compensation amount is used to compensate for: a difference between an amount of coordinate change caused by the lens spacing when the first cross-radiometer coincides with the first imaging point and the third imaging point in the same emission posture, and an amount of coordinate change when the second cross-radiometer coincides with the second imaging point and the fourth imaging point in the same emission posture;

[0023] Before calculating the target coordinates to which the second crosshair table is to be adjusted in the first launch posture using the preset compensation parameters according to the second coordinates and the first correction parameters, the method further includes:

[0024] Calculating a distance compensation amount according to the lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance;

[0025] Calculating the target coordinates to which the second crosshair table is to be adjusted in the first launch posture using the preset compensation parameters according to the second coordinates and the first correction parameters, includes:

[0026] According to the second coordinates and the first correction parameter, the target coordinates to which the second crosshair table is to be adjusted in the first launch posture are calculated using the preset compensation parameter and the distance compensation amount.

[0027] Optionally, the preset compensation parameter represents: the ratio between the coordinate change amount when the second crosshair table successively coincides with the imaging points of two target points at the same aiming distance under the same launching posture and the coordinate change amount when the first crosshair table successively coincides with the imaging points of the two target points under the same launching posture;

[0028] According to the second coordinates and the first correction parameter, using the preset compensation parameter and the distance compensation amount, calculating the target coordinates to which the second crosshair table is to be adjusted in the first launch posture, including:

[0029] Calculating the product of the preset compensation parameter and the first correction parameter to obtain a second correction parameter;

[0030] The sum of the second coordinate, the second correction parameter and the distance compensation amount is calculated to obtain the target coordinate to which the second crosshair table is to be adjusted in the first launch posture.

[0031] Optionally, the distance compensation amount includes a first sub-compensation amount in a width direction of the image coordinate system of the second optical path sight and a second sub-compensation amount in a height direction of the image coordinate system of the second optical path sight;

[0032] Calculating a distance compensation amount according to the lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance includes:

[0033] The distance compensation amount is calculated using a first formula according to the lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance; wherein the first formula includes:

[0034] ;

[0035] ;

[0036] in, is the first sub-compensation amount, is the second sub-compensation amount; is the second aiming distance, is the first aiming distance; is the pixel pitch of the second optical path sight, is the focal length of the second optical path sight; is the lens spacing between the first optical path sight and the second optical path sight in the horizontal direction of the world coordinate system, It is the lens spacing of the first optical path sight and the second optical path sight in the vertical direction of the world coordinate system.

[0037] Optionally, the preset compensation parameter represents: the ratio between the coordinate change amount when the second crosshair table successively coincides with the imaging points of two target points at the same aiming distance under the same launching posture and the coordinate change amount when the first crosshair table successively coincides with the imaging points of the two target points under the same launching posture;

[0038] Calculating the target coordinates to which the second crosshair table is to be adjusted in the first launch posture using the preset compensation parameters according to the second coordinates and the first correction parameters, includes:

[0039] Calculating the product of the preset compensation parameter and the first correction parameter to obtain a second correction parameter;

[0040] The sum of the second coordinates and the second correction parameter is calculated to obtain the target coordinates to which the second crosshair table is to be adjusted in the first launch posture.

[0041] Optionally, the method for determining the preset compensation parameter includes:

[0042] Determine a first imaging distance between imaging points of two target points on the target object at a third aiming distance in the first optical path sight, and a second imaging distance between imaging points of the two target points in the second optical path sight;

[0043] The ratio of the second imaging distance to the first imaging distance is calculated to obtain a preset compensation parameter.

[0044] Optionally, the preset compensation parameter is calculated according to a second formula; the second formula is:

[0045] ;

[0046] in, is the preset compensation parameter, represents the coordinate change when the first crosshair table coincides with the imaging points of two target points at the same aiming distance in the same launching posture, represents the coordinate change when the second cross-radius table successively coincides with the imaging points of the two target points under the same launching posture; is the pixel pitch of the sight in the first optical path, is the pixel pitch of the second optical path sight, is the focal length of the first optical path sight, is the focal length of the second optical path sight.

[0047] Optionally, the first coordinate and the second coordinate are determined by:

[0048] When the dual optical path sight is in the same emitting posture, the coordinates of the first crosshair table are obtained as the first coordinates when the first crosshair table coincides with the imaging point of the first target point at the first aiming distance in the first optical path sight; and the coordinates of the second crosshair table are obtained as the second coordinates when the second crosshair table coincides with the imaging point of the first target point in the second optical path sight.

[0049] Optionally, the first coordinate and the second coordinate are determined by:

[0050] Acquire the coordinates of the imaging point of the projectile landing point in the first optical path sight when the first crosshair table is aimed at the second target point at the first aiming distance and the projectile is launched, as the first coordinates of the first crosshair table;

[0051] The coordinates of the imaging point where the projectile lands in the second optical path sight when the second crosshair table aims at the second target point and launches are obtained as the second coordinates of the second crosshair table.

[0052] Optionally, the first coordinate and the second coordinate are determined by:

[0053] When parallel light is emitted to the first optical path sight and the second optical path sight using a collimator, the coordinates of the imaging point of the emitted parallel light in the first optical path sight are obtained as the first coordinates of the first crosshair table, and the coordinates of the imaging point of the emitted parallel light in the second optical path sight are obtained as the second coordinates of the second crosshair table.

[0054] In a second aspect, an embodiment of the present application provides a calibration device, which is applied to a dual-light path sight, wherein the first light path sight corresponds to a first crosshair table, and the second light path sight corresponds to a second crosshair table, and the device comprises:

[0055] A first acquisition module, used to acquire a first correction parameter corresponding to a first cross-shooting table;

[0056] A first correction module, configured to correct the coordinates of the first cross-reference table according to the first correction parameters;

[0057] A second acquisition module is used to acquire a pre-built mapping relationship; wherein the mapping relationship represents: a corresponding relationship between the coordinate change amount of the first cross-shooting table and the coordinate change amount of the second cross-shooting table;

[0058] The second correction module is used to determine the target coordinates to which the second cross-referencing table is to be adjusted based on the acquired mapping relationship and the first correction parameters, and adjust the second cross-referencing table to the target coordinates.

[0059] Optionally, the first acquisition module includes:

[0060] A first acquisition submodule is used to acquire, for the same target point at the first aiming distance, a first coordinate of the first crosshair table when a first imaging point of the target point in the first optical path sight coincides with the first crosshair table, and a second imaging point of the target point in the second optical path sight coincides with the second crosshair table;

[0061] A second acquisition submodule is used to acquire the third coordinate of the first crosshair table when the dual-optical path sight is in the first firing posture; wherein, when the dual-optical path sight is in the first firing posture, the first crosshair table coincides with the third imaging point of the to-be-aimed point at the second aiming distance in the first optical path sight;

[0062] The calculation submodule is used to calculate the coordinate change between the third coordinate and the first coordinate as a first correction parameter.

[0063] Optionally, the device further comprises:

[0064] A third acquisition module is used for acquiring, for the same target point at the first aiming distance, a second coordinate of the second crosshair table when a first imaging point of the target point in the first optical path sight coincides with the first crosshair table, and a second imaging point of the target point in the second optical path sight coincides with the second crosshair table, before the second correction module determines the target coordinates to which the second crosshair table is to be adjusted based on the acquired mapping relationship and the first correction parameter;

[0065] The second correction module comprises:

[0066] A correction submodule is used to calculate the target coordinates to which the second cross-beam table is to be adjusted under the first launch posture according to the second coordinates and the first correction parameters using the acquired mapping relationship, and adjust the second cross-beam table to the target coordinates so that the second cross-beam table coincides with a fourth imaging point of the point to be aimed at in the second optical path sight.

[0067] Optionally, the mapping relationship includes a first sub-mapping relationship based on a preset compensation parameter; the preset compensation parameter is used to compensate for: a difference between a coordinate change amount when the first crosshair table successively coincides with imaging points of two target points at the same aiming distance under the same launch posture, and a coordinate change amount when the second crosshair table successively coincides with imaging points of the two target points under the same launch posture;

[0068] The correction submodule is specifically used for:

[0069] According to the second coordinates and the first correction parameters, the preset compensation parameters are used to calculate the target coordinates to which the second crosshair table is to be adjusted in the first launch posture.

[0070] Optionally, the mapping relationship further includes a second sub-mapping relationship based on the distance compensation amount; the distance compensation amount is used to compensate for: a difference between an amount of coordinate change caused by the lens spacing when the first cross-radiometer coincides with the first imaging point and the third imaging point in the same emission posture, and an amount of coordinate change when the second cross-radiometer coincides with the second imaging point and the fourth imaging point in the same emission posture;

[0071] The device also includes:

[0072] a calculation module, configured to calculate a distance compensation amount according to a lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance before the correction submodule calculates the target coordinates to which the second crosshair table is to be adjusted in the first launch posture according to the second coordinates and the first correction parameter using the preset compensation parameter;

[0073] The correction submodule is specifically used for:

[0074] According to the second coordinates and the first correction parameter, the target coordinates to which the second crosshair table is to be adjusted in the first launch posture are calculated using the preset compensation parameter and the distance compensation amount.

[0075] Optionally, the preset compensation parameter represents: the ratio between the coordinate change amount when the second crosshair table successively coincides with the imaging points of two target points at the same aiming distance under the same launching posture and the coordinate change amount when the first crosshair table successively coincides with the imaging points of the two target points under the same launching posture;

[0076] The correction submodule is specifically used for:

[0077] Calculating the product of the preset compensation parameter and the first correction parameter to obtain a second correction parameter;

[0078] The sum of the second coordinate, the second correction parameter and the distance compensation amount is calculated to obtain the target coordinate to which the second crosshair table is to be adjusted in the first launch posture.

[0079] Optionally, the distance compensation amount includes a first sub-compensation amount in a width direction of the image coordinate system of the second optical path sight and a second sub-compensation amount in a height direction of the image coordinate system of the second optical path sight;

[0080] The computing module is specifically used for:

[0081] The distance compensation amount is calculated using a first formula according to the lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance; wherein the first formula includes:

[0082] ;

[0083] ;

[0084] in, is the first sub-compensation amount, is the second sub-compensation amount; is the second aiming distance, is the first aiming distance; is the pixel pitch of the second optical path sight, is the focal length of the second optical path sight; is the lens spacing between the first optical path sight and the second optical path sight in the horizontal direction of the world coordinate system, It is the lens spacing of the first optical path sight and the second optical path sight in the vertical direction of the world coordinate system.

[0085] Optionally, the preset compensation parameter represents: the ratio between the coordinate change amount when the second crosshair table successively coincides with the imaging points of two target points at the same aiming distance under the same launching posture and the coordinate change amount when the first crosshair table successively coincides with the imaging points of the two target points under the same launching posture;

[0086] The correction submodule is specifically used for:

[0087] Calculating the product of the preset compensation parameter and the first correction parameter to obtain a second correction parameter;

[0088] The sum of the second coordinates and the second correction parameter is calculated to obtain the target coordinates to which the second crosshair table is to be adjusted in the first launch posture.

[0089] Optionally, the method for determining the preset compensation parameter includes:

[0090] Determine a first imaging distance between imaging points of two target points on the target object at a third aiming distance in the first optical path sight, and a second imaging distance between imaging points of the two target points in the second optical path sight;

[0091] The ratio of the second imaging distance to the first imaging distance is calculated to obtain a preset compensation parameter.

[0092] Optionally, the preset compensation parameter is calculated according to a second formula; the second formula is:

[0093] ;

[0094] in, is the preset compensation parameter, represents the coordinate change when the first crosshair table coincides with the imaging points of two target points at the same aiming distance in the same launching posture, represents the coordinate change when the second cross-radius table successively coincides with the imaging points of the two target points under the same launching posture; is the pixel pitch of the sight in the first optical path, is the pixel pitch of the second optical path sight, is the focal length of the first optical path sight, is the focal length of the second optical path sight.

[0095] Optionally, the first coordinate and the second coordinate are determined by:

[0096] When the dual optical path sight is in the same emitting posture, the coordinates of the first crosshair table are obtained as the first coordinates when the first crosshair table coincides with the imaging point of the first target point at the first aiming distance in the first optical path sight; and the coordinates of the second crosshair table are obtained as the second coordinates when the second crosshair table coincides with the imaging point of the first target point in the second optical path sight.

[0097] Optionally, the first coordinate and the second coordinate are determined by:

[0098] Acquire the coordinates of the imaging point of the projectile landing point in the first optical path sight when the first crosshair table is aimed at the second target point at the first aiming distance and the projectile is launched, as the first coordinates of the first crosshair table;

[0099] The coordinates of the imaging point where the projectile lands in the second optical path sight when the second crosshair table aims at the second target point and launches are obtained as the second coordinates of the second crosshair table.

[0100] Optionally, the first coordinate and the second coordinate are determined by:

[0101] When parallel light is emitted to the first optical path sight and the second optical path sight using a collimator, the coordinates of the imaging point of the emitted parallel light in the first optical path sight are obtained as the first coordinates of the first crosshair table, and the coordinates of the imaging point of the emitted parallel light in the second optical path sight are obtained as the second coordinates of the second crosshair table.

[0102] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0103] Memory, used to store computer programs;

[0104] The processor is used to implement any of the above-mentioned correction methods when executing the program stored in the memory.

[0105] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the correction method described in any one of the above items is implemented.

[0106] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes executable instructions. When the executable instructions are executed on a computer, the computer executes any of the correction methods described above.

[0107] Beneficial effects of the embodiments of the present application:

[0108] In the solution provided by the embodiment of the present application, since the pre-constructed mapping relationship represents the corresponding relationship between the coordinate change amount of the first cross-beam table and the coordinate change amount of the second cross-beam table, after the coordinates of the first cross-beam table are corrected by using the first correction parameter, the coordinate change amount corresponding to the second cross-beam table when the coordinates of the first cross-beam table are corrected according to the first correction parameter can be calculated according to the first correction parameter and the mapping relationship, so that the target coordinates to which the second cross-beam table is to be adjusted can be determined. Then, by adjusting the second cross-beam table to the target coordinates, the second cross-beam table can be adaptively adjusted according to the first correction parameter of the first cross-beam table, that is, the linkage calibration of the second optical path sight and the first optical path sight can be realized, so that the efficiency of correction can be improved to achieve rapid correction.

[0109] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0110] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0111] Figure 1 A flowchart of a calibration method provided in an embodiment of the present application;

[0112] Figure 2A A schematic diagram of an imaging point of a target point in a first optical path sight provided in an embodiment of the present application;

[0113] Figure 2B A schematic diagram of an imaging point of a target point in a second optical path sight provided in an embodiment of the present application;

[0114] Figure 3 A schematic diagram of a dual-light path sight calibration provided in an embodiment of the present application;

[0115] Figure 4 A schematic diagram of imaging a target point in two sights provided in an embodiment of the present application;

[0116] Figure 5 A schematic diagram of the structure of a correction device provided in an embodiment of the present application;

[0117] Figure 6 A block diagram of an electronic device for implementing the correction method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0118] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0119] In order to adapt to more launch environments, multiple electronic sights will be installed on the launch device at the same time. For example, a visible light sight and a thermal imaging sight are installed at the same time. Among them, the visible light sight is used for observation and aiming during the day, and the thermal imaging sight is used for observation and aiming at night. Since the visible light sight and the thermal imaging sight are independent of each other, the user needs to calibrate the visible light sight and the thermal imaging sight separately before using the launch device to launch the missile. That is, the crosshair table of the visible light sight is used to aim at the target to be aimed at and launch, and then the crosshair table of the visible light sight is adjusted to coincide with the imaging position of the missile landing point according to the imaging position of the missile landing point in the visible light sight; then, the crosshair table of the thermal imaging sight is used to aim at the target to be aimed at and launch, and then the crosshair table of the thermal imaging sight is adjusted to coincide with the imaging position of the missile landing point according to the imaging position of the missile landing point in the thermal imaging sight. After the calibration of the visible light sight and the thermal imaging sight is completed, the correction operation is completed. However, if the aiming distance changes, it is necessary to use the crosshair table of each electronic sight to aim at the target at the new aiming distance, fire, and then adjust the crosshair table of the electronic sight according to the location of the missile landing point. Therefore, every time the aiming distance changes, it is necessary to fire multiple times to readjust the crosshair tables of multiple electronic sights, which is complicated and leads to low calibration efficiency.

[0120] In summary, in order to improve the efficiency of correction and achieve rapid correction, the embodiments of the present application provide a correction method, apparatus, device and storage medium.

[0121] Next, a correction method provided in an embodiment of the present application is introduced.

[0122] A calibration method provided in an embodiment of the present application is applied to a dual-light path sight, the dual-light path sight comprising a first light path sight and a second light path sight, the first light path sight and the second light path sight can be any one of electronic sights such as a visible light sight, a low light level sight, a thermal imaging sight, etc. The dual-light path sight can obtain the coordinates of an imaging point and the coordinates of a crosshair table, and control the coordinates of the crosshair table to adjust.

[0123] Among them, a calibration method provided in an embodiment of the present application is applied to a dual-light path sight, the first light path sight corresponds to a first crosshair table, and the second light path sight corresponds to a second crosshair table, and the method includes:

[0124] Obtaining a first correction parameter corresponding to a first cross-shooting table;

[0125] Correcting the coordinates of the first crosshair table according to the first correction parameter;

[0126] Acquire a pre-built mapping relationship; wherein the mapping relationship represents: a corresponding relationship between the coordinate change amount of the first cross-shooting table and the coordinate change amount of the second cross-shooting table;

[0127] Based on the acquired mapping relationship and the first correction parameter, the target coordinates to which the second crosshair table is to be adjusted are determined, and the second crosshair table is adjusted to the target coordinates.

[0128] In the solution provided by the embodiment of the present application, since the pre-constructed mapping relationship represents the corresponding relationship between the coordinate change amount of the first cross-beam table and the coordinate change amount of the second cross-beam table, after the coordinates of the first cross-beam table are corrected by the first correction parameter, the coordinate change amount corresponding to the second cross-beam table when the coordinates of the first cross-beam table are corrected according to the first correction parameter can be calculated according to the first correction parameter and the mapping relationship, so that the target coordinates to which the second cross-beam table is to be adjusted can be determined. Then, by adjusting the second cross-beam table to the target coordinates, the second cross-beam table can be adaptively adjusted according to the first correction parameter of the first cross-beam table, that is, the linkage calibration of the second optical path sight and the first optical path sight can be realized, so that the efficiency of the correction can be improved to achieve rapid correction.

[0129] The correction method provided in the embodiment of the present application is introduced below in conjunction with the accompanying drawings.

[0130] like Figure 1 As shown, the calibration method provided in the embodiment of the present application includes steps S101-S104:

[0131] S101, obtaining a first correction parameter corresponding to a first cross-referencing table;

[0132] In this embodiment, a first optical path sight and a second optical path sight are installed on the launch device to be calibrated. The first optical path sight and the second optical path sight are two different types of electronic sights, which are used for aiming in different launch environments. Exemplarily, the first optical path sight and the second optical path sight can be any one of electronic sights such as a visible light sight, a thermal imaging sight, and a low-light sight. It can be understood that in actual applications, the first optical path sight and the second optical path sight are installed at different positions on the launch device, that is, there is a lens spacing between the first optical path sight and the second optical path sight.

[0133] The crosshair table in the first optical path sight is the first crosshair table, and the crosshair table in the second optical path sight is the second crosshair table. The first correction parameter corresponding to the first crosshair table is the coordinate change amount of the first crosshair table, including the coordinate change amount in the horizontal direction and the coordinate change amount in the vertical direction, so that after obtaining the first correction parameter, the coordinates of the first crosshair table can be corrected according to the first correction parameter.

[0134] Exemplarily, when the launch device is aiming at the target, the coordinates of the imaging point of the target in the first optical path sight are obtained, and the difference between the coordinates of the imaging point and the coordinates of the current first crosshair table is calculated as the first correction parameter.

[0135] S102, calibrating the coordinates of the first crosshair table according to the first calibration parameter;

[0136] After obtaining the first correction parameter, the coordinates of the first crosshair table are corrected according to the first correction parameter so that the coordinates of the corrected first crosshair table coincide with the imaging point of the target to be aimed at in the first optical path sight, that is, the corrected first crosshair table aims at the target to be aimed at.

[0137] S103, obtaining a pre-built mapping relationship; wherein the mapping relationship represents: a corresponding relationship between the coordinate change amount of the first cross-fire table and the coordinate change amount of the second cross-fire table;

[0138] It can be understood that since the pixel spacing of the first cross-hair table and the pixel spacing of the second cross-hair table are not necessarily the same, the coordinate change of the first cross-hair table from aiming at target A to aiming at target B may be inconsistent with the coordinate change of the second cross-hair table from aiming at target A to aiming at target B. Therefore, it is necessary to obtain the correspondence between the coordinate change of the first cross-hair table and the coordinate change of the second cross-hair table, so that the subsequent second cross-hair table can be adaptively adjusted according to the coordinate adjustment of the first cross-hair table.

[0139] S104, based on the acquired mapping relationship and the first correction parameter, determining the target coordinates to which the second cross-referencing table is to be adjusted, and adjusting the second cross-referencing table to the target coordinates.

[0140] It can be understood that, since the first correction parameter is the coordinate change of the first cross-beam table, the acquired mapping relationship represents the corresponding relationship between the coordinate change of the first cross-beam table and the coordinate change of the second cross-beam table, then according to the first correction parameter and the mapping relationship, the coordinate change corresponding to the second cross-beam table when the coordinates of the first cross-beam table are corrected according to the first correction parameter can be calculated, so that the target coordinates to which the second cross-beam table is to be adjusted can be determined. For example, the sum of the current coordinates of the second cross-beam table and the coordinate change corresponding to the second cross-beam table is used as the target coordinates to which the second cross-beam table is to be adjusted. The second cross-beam table is adjusted to the target coordinates so that the second cross-beam table can be adaptively adjusted according to the first correction parameter of the first cross-beam table, that is, the linkage calibration of the second optical path sight and the first optical path sight is realized, so that the efficiency of the correction can be improved to achieve rapid correction.

[0141] In the solution provided by the embodiment of the present application, since the pre-constructed mapping relationship represents the corresponding relationship between the coordinate change amount of the first cross-beam table and the coordinate change amount of the second cross-beam table, after the coordinates of the first cross-beam table are corrected by the first correction parameter, the coordinate change amount corresponding to the second cross-beam table when the coordinates of the first cross-beam table are corrected according to the first correction parameter can be calculated according to the first correction parameter and the mapping relationship, so that the target coordinates to which the second cross-beam table is to be adjusted can be determined. Then, by adjusting the second cross-beam table to the target coordinates, the second cross-beam table can be adaptively adjusted according to the first correction parameter of the first cross-beam table, that is, the linkage calibration of the second optical path sight and the first optical path sight can be realized, so that the efficiency of the correction can be improved to achieve rapid correction.

[0142] Optionally, in another embodiment of the present application, obtaining the first correction parameter corresponding to the first cross-reference table in the above step S101 includes steps A1-A3:

[0143] A1, for the same target point at the first aiming distance, obtaining the first coordinate of the first crosshair table when the first imaging point of the target point in the first optical path sight coincides with the first crosshair table, and the second imaging point of the target point in the second optical path sight coincides with the second crosshair table;

[0144] Exemplarily, the first aiming distance may be 50m, 100m, and so on. It is understandable that when the first imaging point of any target point at the first aiming distance in the first optical path sight coincides with the first crosshair table, and the second imaging point of the target point in the second optical path sight coincides with the second crosshair table, the first crosshair table and the second crosshair table simultaneously aim at the same target point at the first aiming distance. In this case, the first coordinate of the first crosshair table is obtained, and the coordinate change amount based on the first coordinate can be calculated later as the first correction parameter. Among them, the first coordinate of the first crosshair table is the coordinate of the first crosshair table in the image coordinate system of the first optical path sight.

[0145] A2, obtaining the third coordinate of the first crosshair table when the dual-light path sight is in the first firing posture; wherein, when the dual-light path sight is in the first firing posture, the first crosshair table coincides with the third imaging point of the to-be-aimed point at the second aiming distance in the first light path sight;

[0146] In this implementation, the second aiming distance may be the same as or different from the first aiming distance. The first launching posture may be any posture of the launching device that enables the first crosshair to coincide with the third imaging point.

[0147] It is understandable that in order to enable the projectile launched by the launch device to accurately hit the point to be aimed at at the second aiming distance, the first crosshair table can be adjusted to aim at the point to be aimed at, so that the launch device is in the first launch posture, at which time the first crosshair table coincides with the third imaging point of the point to be aimed at in the first optical path sight. The coordinates of the first crosshair table when the first crosshair table coincides with the third imaging point are obtained.

[0148] Exemplarily, in the first launching posture, the coordinates of the third imaging point or the first crosshair table in the image coordinate system of the first optical path sight can be read from the first optical path sight, and the read coordinates are the third coordinates of the first crosshair table.

[0149] A3, calculating the coordinate change between the third coordinate and the first coordinate as the first correction parameter.

[0150] In this implementation, the difference between the third coordinate and the first coordinate is the coordinate change between the third coordinate and the first coordinate, and the coordinate change is used as the first correction parameter. , the first coordinate is , then the first correction parameter is ,in, , .

[0151] Accordingly, in this embodiment, before determining the target coordinates to which the second cross-reference table is to be adjusted based on the acquired mapping relationship and the first correction parameter in the above step S104, the method further includes:

[0152] For the same target point at the first aiming distance, obtaining a second coordinate of the second crosshair table when a first imaging point of the target point in the first optical path sight coincides with the first crosshair table, and a second imaging point of the target point in the second optical path sight coincides with the second crosshair table;

[0153] In this embodiment, the first coordinate and the second coordinate are the coordinates of the first crosshair table and the coordinates of the second crosshair table when the first optical path sight and the second optical path sight are both aimed at the same target point. In practical applications, the second coordinate can be obtained at the same time as the first coordinate to obtain the initial coordinate correspondence between the two crosshair tables when the first crosshair table and the second crosshair table are both aimed at the same target point at the first aiming distance. Among them, the second coordinate of the second crosshair table is the coordinate of the second crosshair table in the image coordinate system of the second optical path sight.

[0154] The first coordinate and the second coordinate can be determined in the following three ways:

[0155] Method 1: When the dual optical path sight is in the same emitting posture, the coordinates of the first crosshair table are obtained as the first coordinates when the first crosshair table coincides with the imaging point of the first target point at the first aiming distance in the first optical path sight; and the coordinates of the second crosshair table are obtained as the second coordinates when the second crosshair table coincides with the imaging point of the first target point in the second optical path sight.

[0156] In this implementation, in order to obtain the first coordinates of the first crosshair table and the second coordinates of the second crosshair table when the first crosshair table and the second crosshair table are simultaneously aimed at the same target point at the first aiming distance, the launching posture of the launching device can be kept unchanged, the first crosshair table is adjusted to coincide with the imaging point of the first target point in the first optical path sight, and the coordinates of the first crosshair table in the image coordinate system of the first optical path sight are read from the first optical path sight when they coincide, as the first coordinates, and then the second crosshair table is adjusted to coincide with the imaging point of the first target point in the second optical path sight, and the coordinates of the second crosshair table in the image coordinate system of the second optical path sight are read from the second optical path sight when they coincide, as the second coordinates. The first target point can be any target point at the first aiming distance. It should be noted that the first crosshair table aims at a target point, that is, the center of the first crosshair table coincides with the imaging point of the target point in the first optical path sight, and the second crosshair table aims at a target point, that is, the center of the second crosshair table coincides with the imaging point of the target point in the second optical path sight.

[0157] Method 2: When the first crosshair table is aimed at the second target point at the first aiming distance and the launch is performed, the coordinates of the imaging point of the projectile landing point in the first optical path sight are obtained as the first coordinates of the first crosshair table; when the second crosshair table is aimed at the second target point and the launch is performed, the coordinates of the imaging point of the projectile landing point in the second optical path sight are obtained as the second coordinates of the second crosshair table.

[0158] In this implementation, the launch device does not need to maintain a fixed launch posture, that is, the launch device can aim at the second target point and launch in different launch postures.

[0159] It can be understood that, since the first coordinate is the coordinate of the imaging point of the missile landing point in the first optical path sight when the first crosshair table is aimed at the second target point at the first aiming distance and the missile is launched, if the first crosshair table is adjusted to the first coordinate, the point aimed at by the first crosshair table can coincide with the point hit by the missile launched by the launch device. Similarly, if the second crosshair table is adjusted to the second coordinate, the point aimed at by the second crosshair table can coincide with the point hit by the missile launched by the launch device. That is, the point aimed at by the first crosshair table and the point aimed at by the second crosshair table can both coincide with the point hit by the missile launched by the launch device. Then, when the launch device is in any launch posture, since one launch posture corresponds to one missile landing point, the first crosshair table and the second crosshair table can both aim at the same target point at the first aiming distance. Therefore, the first coordinate and the second coordinate determined by this method are the coordinates of the two crosshairs when the first crosshair table and the second crosshair table aim at the same target point at the first aiming distance.

[0160] Exemplarily, the first crosshair table can be used to aim at the second target point and launch, and the coordinates of the imaging point of the projectile landing point in the first optical path sight in the image coordinate system of the first optical path sight are read from the first optical path sight, and the read coordinates are the first coordinates of the first crosshair table; then the second crosshair table can be used to aim at the second target point and launch, and the coordinates of the imaging point of the projectile landing point in the second optical path sight in the image coordinate system of the second optical path sight are read from the second optical path sight, and the read coordinates are the second coordinates of the second crosshair table.

[0161] Method three, when parallel light is emitted to the first optical path sight and the second optical path sight using a parallel light tube, the coordinates of the imaging point of the emitted parallel light in the first optical path sight are obtained as the first coordinates of the first crosshair table, and the coordinates of the imaging point of the emitted parallel light in the second optical path sight are obtained as the second coordinates of the second crosshair table.

[0162] It can be understood that the collimator can emit parallel light to simulate an object distance of infinity, that is, the parallel light emitted by the collimator simulates a target point of infinity at the first aiming distance.

[0163] In this implementation, a parallel light tube is used to emit parallel light to the first optical path sight and the second optical path sight, and the landing point of the emitted parallel light on the imaging plane of the first optical path sight is the imaging point of the parallel light in the first optical path sight, and the landing point of the emitted parallel light on the imaging plane of the second optical path sight is the imaging point of the parallel light in the first optical path sight.

[0164] Exemplarily, the coordinates of the imaging point of the parallel light in the first optical path sight in the image coordinate system of the first optical path sight can be read from the first optical path sight as the first coordinates of the first crosshair table; the coordinates of the imaging point of the parallel light in the second optical path sight in the image coordinate system of the second optical path sight can be read from the second optical path sight as the second coordinates of the second crosshair table.

[0165] In addition, in actual applications, the first optical path sight and the second optical path sight can be calibrated using a parallel light tube during production, that is, the above-mentioned first coordinates and second coordinates are obtained according to method three during production, and recorded in the storage unit of the processing device on the dual optical path sight, so that during the calibration process, the recorded first coordinates and second coordinates can be directly read from the storage unit of the processing device.

[0166] In addition, in practical applications, before executing the correction method provided in the embodiment of the present application, the first coordinate and the second coordinate can be determined by the above three methods and recorded in the storage unit of the processing device of the dual-light path sight, so that when executing this solution, the pre-recorded first coordinate and second coordinate can be directly read from the storage unit to obtain the first coordinate of the first crosshair table and the second coordinate of the second crosshair table. Alternatively, the first coordinate of the first crosshair table and the second coordinate of the second crosshair table can be obtained in accordance with the above three methods when executing the step of this solution. This is all reasonable.

[0167] Accordingly, in the above step S104, based on the acquired mapping relationship and the first correction parameter, the target coordinates to which the second cross-fire table is to be adjusted are determined, and the second cross-fire table is adjusted to the target coordinates, including:

[0168] According to the second coordinates and the first correction parameter, the target coordinates to which the second crosshair table is to be adjusted under the first launching posture are calculated using the acquired mapping relationship, and the second crosshair table is adjusted to the target coordinates so that the second crosshair table coincides with the fourth imaging point of the point to be aimed at in the second optical path sight.

[0169] It can be understood that, since the first correction parameter is the coordinate change of the first cross-beam table, the acquired mapping relationship represents the corresponding relationship between the coordinate change of the first cross-beam table and the coordinate change of the second cross-beam table, and therefore, the coordinate change corresponding to the second cross-beam table can be calculated by using the acquired mapping relationship and the first correction parameter. Then, the sum of the second coordinate and the coordinate change corresponding to the second cross-beam table is calculated to obtain the target coordinate.

[0170] Furthermore, since the first correction parameter is the coordinate change based on the first coordinate, the first coordinate and the second coordinate are the coordinates of the first crosshair table and the second crosshair table when the first optical path sight and the second optical path sight are both aimed at the same target point. Therefore, after adjusting the second crosshair table to the target coordinate, the second optical path sight and the first optical path sight can still aim at the same target point, that is, the second crosshair table coincides with the fourth imaging point of the point to be aimed at in the second optical path sight.

[0171] It should be noted that the positions of the first crosshair table and the second crosshair table involved in the embodiments of the present application are both the center positions of the crosshairs. For example, the first imaging point coincides with the first crosshair table, that is, the first imaging point coincides with the center of the first crosshair table, and the second imaging point coincides with the second crosshair table, that is, the second imaging point coincides with the center of the second crosshair table.

[0172] Optionally, in one implementation, the mapping relationship includes a first sub-mapping relationship based on a preset compensation parameter; the preset compensation parameter is used to compensate for: a difference between a coordinate change amount when a first crosshair table under the same launch posture successively coincides with imaging points of two target points under the same aiming distance, and a coordinate change amount when a second crosshair table under the same launch posture successively coincides with imaging points of the two target points;

[0173] Accordingly, in this implementation, according to the second coordinates and the first correction parameter, the target coordinates to which the second crosshair table is to be adjusted in the first launch posture are calculated using the acquired mapping relationship, including:

[0174] According to the second coordinates and the first correction parameters, the target coordinates to which the second crosshair table is to be adjusted in the first firing posture are calculated using preset compensation parameters.

[0175] It can be understood that the coordinate change amount when the first crosshair table under the same launch posture successively coincides with the imaging points of two target points under the same aiming distance is the imaging distance between the imaging points of the two target points in the first optical path sight, and correspondingly, the coordinate change amount when the second crosshair table under the same launch posture successively coincides with the imaging points of the two target points is the imaging distance between the imaging points of the two target points in the second optical path sight. The preset compensation parameters are used to compensate for the difference between the coordinate change amount when the first crosshair table under the same launch posture successively coincides with the imaging points of the two target points under the same aiming distance and the coordinate change amount when the second crosshair table under the same launch posture successively coincides with the imaging points of the two target points, that is, to compensate for the difference between the imaging distance between the imaging points of the two target points in the first optical path sight and the imaging distance between the imaging points in the second optical path sight.

[0176] Since the first coordinate and the second coordinate are the coordinates of the first crosshair table and the second crosshair table when both the first optical path sight and the second optical path sight aim at the same target point at the first aiming distance, the preset compensation parameter is used to compensate for the difference between the coordinate change amount in the first crosshair table and the coordinate change amount in the second crosshair table, then, by calculating the coordinate change amount between the third coordinate and the first coordinate as the first correction parameter, according to the first correction parameter and the preset compensation parameter, the coordinate change amount corresponding to the second crosshair table when the first crosshair table changes from the first coordinate to the third coordinate can be calculated. That is, according to the coordinate change amount when the first crosshair table aims at the target point at the first aiming distance to the point to be aimed at, the coordinate change amount when the second crosshair table aims at the target point at the first aiming distance to the point to be aimed at the second aiming distance is calculated. Then, based on the second coordinate, the second crosshair table moves the calculated coordinate change amount corresponding to the second crosshair table, so that the second crosshair table can coincide with the imaging point of the point to be aimed at in the second optical path sight. Therefore, after the target coordinates are calculated according to the second coordinates, the first correction parameters and the preset compensation parameters, the second crosshair table is adjusted to the target coordinates so that the second crosshair table can be aimed at the point to be aimed at, that is, the second crosshair table coincides with the fourth imaging point.

[0177] It can be understood that when the first crosshair table is adjusted to coincide with the third imaging point, the second optical path sight can calculate the target coordinates according to the first correction parameter and adjust the second crosshair table to the target coordinates, so that when the first crosshair table is adjusted to aim at the point to be aimed at, the second crosshair table can be automatically adjusted to aim at the coordinates of the point to be aimed at according to the coordinate change of the first crosshair table. Thus, the second crosshair table can be adaptively adjusted according to the coordinate change of the first crosshair table to achieve linkage calibration of the second optical path sight and the first optical path sight.

[0178] Optionally, in one implementation, the preset compensation parameter represents: a ratio between a coordinate change amount when the second crosshair table under the same launch posture successively coincides with imaging points of two target points under the same aiming distance, and a coordinate change amount when the first crosshair table under the same launch posture successively coincides with imaging points of the two target points;

[0179] Accordingly, in this implementation, according to the second coordinates and the first correction parameter, the target coordinates to which the second crosshair table is to be adjusted in the first launch posture are calculated using the preset compensation parameter, including steps B1-B2:

[0180] B1, calculating the product of the preset compensation parameter and the first correction parameter to obtain a second correction parameter;

[0181] B2, calculating the sum of the second coordinate and the second correction parameter to obtain the target coordinate to which the second crosshair table is to be adjusted under the first launching posture.

[0182] It can be understood that the preset compensation parameters represent: the ratio of the coordinate change amount when the second cross-shooting table coincides with the imaging points of two target points at the same aiming distance under the same launching posture, and the coordinate change amount when the first cross-shooting table coincides with the imaging points of the two target points under the same launching posture, that is, when the second cross-shooting table and the first cross-shooting table both move from aiming target point A to aiming target point B, the ratio of the coordinate change amount of the second cross-shooting table to the coordinate change amount of the first cross-shooting table.

[0183] Since the first correction parameter represents the amount of change in coordinates when the first crosshair table changes from aiming at the target point at the first aiming distance to aiming at the point to be aimed at, the second correction parameter obtained by calculating the product of the preset compensation parameter and the first correction parameter represents the amount of change in coordinates when the second crosshair table changes from aiming at the target point at the first aiming distance to aiming at the point to be aimed at. By calculating the sum of the second coordinates and the second correction parameter, the target coordinates obtained are the coordinates of the second crosshair table after the second correction parameter is moved on the basis of the second coordinates, that is, the coordinates when the second crosshair table is aimed at the point to be aimed at.

[0184] Optionally, in one implementation, a method for determining the preset compensation parameter includes steps C1-C2:

[0185] C1, determining a first imaging distance between imaging points of two target points on the target object at a third aiming distance in the first optical path sight, and a second imaging distance between imaging points of the two target points in the second optical path sight;

[0186] C2, calculating the ratio of the second imaging distance to the first imaging distance to obtain a preset compensation parameter.

[0187] In this implementation, the third aiming distance may be any aiming distance.

[0188] For example, Figure 2A As shown, a1 is the imaging point of target point A on the target object at the third aiming distance in the first optical path sight, and b1 is the imaging point of target point B on the target object in the first optical path sight. Figure 2A The distance between a1 and b1 is the first imaging distance. Figure 2B As shown in the figure, a2 and b2 are the imaging points of target point A and target point B in the second optical path sight, respectively. Figure 2B The distance between a2 and b2 is the second imaging distance. If the first imaging distance is , the second imaging distance is ,but / After obtaining the preset compensation parameters, they can be recorded in the storage unit of the processing device on the dual-light path sight, so that when the processing device executes the correction method provided by this embodiment, it can directly read the preset compensation parameters from its own storage unit for use.

[0189] It should be noted that Figure 2A and Figure 2B Each rectangular grid in represents a pixel unit. Figure 2A The width of the middle rectangular grid represents the pixel spacing of the first optical path sight. Figure 2B The width of the middle rectangular grid indicates the pixel pitch of the second optical path sight. In an electronic sight, the smaller the pixel pitch, the higher the pixel density, and the higher the resolution and clarity of the image.

[0190] Optionally, in another implementation, the preset compensation parameter is calculated according to a second formula; the second formula is:

[0191] ;

[0192] in, To preset compensation parameters, It indicates the coordinate change when the first crosshair table in the same launching posture coincides with the imaging points of two target points at the same aiming distance. It indicates the coordinate change when the second crosshair table coincides with the imaging points of the two target points successively under the same launching posture; is the pixel pitch of the first optical path sight, is the pixel pitch of the second optical path sight, is the focal length of the first optical path sight, is the focal length of the second optical path sight.

[0193] It can be understood that the instantaneous field of view of the first optical path sight is:

[0194] ;

[0195] The instantaneous field of view of the second optical path sight is:

[0196] ;

[0197] If target point A and target point B are two target points on a target object, and the angle between target point A and target point B on the optical path of the first optical path sight is , the angle between target point A and target point B on the optical path of the first optical path sight is Since the aiming distance is usually 50m, 100m, etc., and the distance between the two sights on the launch device is usually in the centimeter level, that is, the lens spacing between the first optical path sight and the second optical path sight is much smaller than the distance between the target and the launch device, it can be considered that .

[0198] And because:

[0199] ;

[0200] ;

[0201] in, The imaging points of target point A and target point B in the first optical path sight With imaging point The imaging distance between The imaging points of target point A and target point B in the second optical path sight With imaging point The imaging distance is ,but:

[0202] ;

[0203] So,

[0204] ;

[0205] Therefore, the preset compensation parameter can be calculated according to the second formula above.

[0206] It is understandable that if a visible light sight and a thermal imaging sight are installed on the launch device, the visible light sight or the thermal imaging sight can be used as the first optical path sight. When the visible light sight is the first optical path sight, the thermal imaging sight is the second optical path sight. When the visible light sight is the second optical path sight, the thermal imaging sight is the first optical path sight. Correspondingly, the above-mentioned adaptive adjustment of the coordinates of the second crosshair table according to the coordinate change of the first crosshair table can be either adaptive adjustment of the coordinates of the crosshair table of the thermal imaging sight according to the coordinate change of the crosshair table of the visible light sight, or adaptive adjustment of the coordinates of the crosshair table of the visible light sight according to the coordinate change of the crosshair table of the thermal imaging sight.

[0207] For example, in the first coordinate , the second coordinate is If the second aiming distance is equal to the first aiming distance, when performing calibration, the user can adjust the first crosshair table according to the influencing factors such as wind speed and humidity in the actual launch environment. ), the second cross-shooting table can be automatically adjusted to ( ). Among them, the mapping relationship 1-1 is:

[0208] ;

[0209] ;

[0210] It can be understood that if the second cross-shooting table is used as a reference, that is, when the second cross-shooting table is adjusted to the third coordinate ( ), the first cross-shooting table can be automatically adjusted to ( ). Among them, the mapping relationship 1-2 is:

[0211] ;

[0212] ;

[0213] in:

[0214] ;

[0215] Since the third coordinate is the coordinate of the first crosshair table when the first crosshair table coincides with the third imaging point of the point to be aimed at in the first sight, and the first coordinate is the coordinate of the first crosshair table when the first crosshair table coincides with the first imaging point of the target point at the first aiming distance in the first sight, the first change represents the change in coordinates when the first crosshair table changes from aiming at the target point at the first aiming distance to aiming at the point to be aimed at. Since the preset compensation parameter is used to compensate for the difference between the change in coordinates in the first crosshair table and the change in coordinates in the second crosshair table, then, by calculating the change in coordinates between the third coordinate and the first coordinate as the first correction parameter, according to the first correction parameter and the preset compensation parameter, the change in coordinates corresponding to the second crosshair table when the first crosshair table changes from the first coordinate to the third coordinate can be calculated. Then, based on the second coordinate, the second crosshair table moves the calculated change in coordinates corresponding to the second crosshair table, so that the second crosshair table can coincide with the fourth imaging point of the point to be aimed at in the second sight. Therefore, after the target coordinates are calculated according to the second coordinates, the first correction parameter and the preset compensation parameter, the second cross-beam table is adjusted to the target coordinates, so that the second cross-beam table can aim at the point to be aimed at, that is, the second cross-beam table coincides with the fourth imaging point. It can be seen that this scheme enables the second cross-beam table to be adaptively adjusted according to the first correction parameter of the first cross-beam table, and the second cross-beam table and the first cross-beam table still aim at the same target point, thereby ensuring the aiming accuracy after correction on the basis of realizing the linkage calibration of the second sight and the first sight.

[0216] like Figure 3 As shown in FIG. 1 , it is a schematic diagram of a dual-optical path sight calibration, where optical path 1 is the optical path corresponding to electronic sight A, and optical path 2 is the optical path corresponding to electronic sight B. The lens spacing between electronic sight A and electronic sight B is D, that is, the optical axis spacing between optical path 1 and optical path 2 is The missile's path is approximately a parabola. When the missile lands at the imaging point a in the electronic sight A and at the imaging point m in the electronic sight B; when the aiming distance becomes When the projectile lands at point b in electronic sight A, the image point n in electronic sight B. During calibration, the aiming distance is When the aiming distance becomes When the center of the crosshair table of electronic sight A needs to be moved to coincide with point b, the center of the crosshair table of electronic sight B needs to be moved to coincide with point n. Because there is an optical axis spacing between optical path 1 and optical path 2 , resulting in the aiming distance being Change to When the crosshair table of the electronic sight A moves The amount of movement of the crosshair table of the electronic sight B are not equal. If you use the movement of the crosshair table of one electronic sight as a reference to move the crosshair table of the other electronic sight, the point aimed at by the crosshair table of the other electronic sight will not be the distance The landing point of the missile at that time causes the aiming accuracy of the other electronic sight to decrease.

[0217] Therefore, in order to further improve the aiming accuracy after correction, in another embodiment of the present application, the above mapping relationship also includes a second sub-mapping relationship based on a distance compensation amount; the distance compensation amount is used to compensate for: the difference between the coordinate change amount caused by the lens spacing when the first cross-beam table coincides with the first imaging point and the third imaging point in the same launch posture, and the coordinate change amount when the second cross-beam table coincides with the second imaging point and the fourth imaging point in the same launch posture;

[0218] Accordingly, in this embodiment, before calculating the target coordinates to which the second crosshair table is to be adjusted in the first firing posture using the preset compensation parameters according to the second coordinates and the first correction parameters, the method further includes: calculating the distance compensation amount according to the lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance;

[0219] Correspondingly, according to the second coordinates and the first correction parameters, the preset compensation parameters are used to calculate the target coordinates to which the second cross-shooting table is to be adjusted in the first launching posture, including: according to the second coordinates and the first correction parameters, the preset compensation parameters and the distance compensation amount are used to calculate the target coordinates to which the second cross-shooting table is to be adjusted in the first launching posture.

[0220] In this embodiment, the first aiming distance and the second aiming distance are different aiming distances, that is, the aiming distances have changed. At this time, due to the influence of the lens spacing, it is also necessary to calculate the distance compensation amount, so as to determine the target coordinates to be adjusted to the second crosshair table under the joint compensation of the preset compensation parameter and the distance compensation amount.

[0221] Optionally, in one implementation, the distance compensation amount includes a first sub-compensation amount in a width direction of the image coordinate system of the second optical path sight and a second sub-compensation amount in a height direction of the image coordinate system of the second optical path sight;

[0222] Accordingly, in this implementation, the distance compensation amount is calculated according to the lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance, including:

[0223] The distance compensation amount is calculated using a first formula according to the lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance; wherein the first formula includes:

[0224] ;

[0225] ;

[0226] in, is the first sub-compensation amount, is the second sub-compensation amount; is the second aiming distance, is the first aiming distance; is the pixel pitch of the second optical path sight, is the focal length of the second optical path sight; is the lens spacing between the first optical path sight and the second optical path sight in the horizontal direction of the world coordinate system, is the lens spacing between the first optical path sight and the second optical path sight in the horizontal direction of the world coordinate system.

[0227] In this implementation, the world coordinate system can be a spatial coordinate system with any point in space as the origin. It should be noted that the embodiment of the present application does not limit the world coordinate system. For the convenience of calculation, the world coordinate system in the present implementation can be a spatial coordinate system with the lens center of the first optical path sight as the origin, the horizontal direction of the lens plane as the X-axis, the vertical direction of the lens plane as the Y-axis, and the direction perpendicular to the lens plane as the Z-axis, or a spatial coordinate system with the lens center of the second optical path sight as the origin, the horizontal direction of the lens plane as the X-axis, the vertical direction of the lens plane as the Y-axis, and the direction perpendicular to the lens plane as the Z-axis.

[0228] For example, Figure 4 As shown, Figure 4 The Y axis in the world coordinate system is the vertical direction of the lens plane of the first optical path sight, that is, the Y axis in the world coordinate system represents the vertical direction, the Z axis is the direction perpendicular to the lens plane of the first optical path sight, and the X axis in the world coordinate system is Figure 4 The vertical plane where points a1 and b1 are located is the imaging plane of the first optical path sight, and the vertical plane where points a2 and b2 are located is the imaging plane of the second optical path sight. The lens spacing between the first optical path sight and the second optical path sight in the Y-axis direction is , the focal length of the first optical path sight is , the focal length of the second optical path sight is .

[0229] like Figure 4 As shown, the first aiming distance The target point is target point A, and the second aiming distance is The point to be aimed at is target point B. Taking the center of the lens of the first optical path sight as the origin, the coordinates of target point A are ( ), the coordinates of the target point B are ( ). The imaging height of the imaging point a1 of the target point A in the first optical path sight is:

[0230] ;

[0231] Then, the Y-axis (height direction) coordinate of the imaging point a1 in the image coordinate system of the first optical path sight is:

[0232] ;

[0233] Correspondingly, the imaging height of the imaging point b1 of the target point B in the first optical path sight is:

[0234] ;

[0235] The Y-axis coordinate of the imaging point b1 in the image coordinate system of the first optical path sight is:

[0236] ;

[0237] The imaging height of the imaging point a2 of the target point A in the second optical path sight is:

[0238] ;

[0239] The Y-axis coordinate of the imaging point a2 in the image coordinate system of the second optical path sight is:

[0240] ;

[0241] The imaging height of the imaging point b2 of the target point B in the second optical path sight is:

[0242] ;

[0243] The Y-axis coordinate of the imaging point b2 in the image coordinate system of the second optical path sight is:

[0244] ;

[0245] If the distance compensation is not considered and only the preset compensation parameters are considered, then:

[0246] ;

[0247] Since the actual Y-axis coordinate of the imaging point b2 in the image coordinate system of the second optical path sight is , and The difference between them is:

[0248] ;

[0249] The difference is the second sub-compensation amount in the height direction of the image coordinate system of the second optical path sight. It should be noted that the derivation process of the first sub-compensation amount in the width direction of the image coordinate system of the second optical path sight can refer to the derivation process of the second sub-compensation amount, which will not be repeated here.

[0250] Optionally, in one implementation, the preset compensation parameter represents: a ratio between a coordinate change amount when the second crosshair table under the same launch posture successively coincides with imaging points of two target points under the same aiming distance, and a coordinate change amount when the first crosshair table under the same launch posture successively coincides with imaging points of the two target points;

[0251] The above method calculates the target coordinates to which the second crosshair table is to be adjusted in the first launch posture according to the second coordinates and the first correction parameter, using the preset compensation parameter and the distance compensation amount, and includes steps D1-D2:

[0252] D1, calculating the product of the preset compensation parameter and the first correction parameter to obtain a second correction parameter;

[0253] D2, calculating the sum of the second coordinate, the second correction parameter and the distance compensation amount, and obtaining the target coordinate to which the second crosshair table is to be adjusted under the first launching posture.

[0254] In this implementation, the product of the preset compensation parameter and the first correction parameter is first calculated to obtain the second correction parameter, and then the sum of the second coordinate, the second correction parameter and the distance compensation amount is calculated to obtain the target coordinates to which the second cross-shooting table is to be adjusted under the first launch posture.

[0255] For example, in the first coordinate , the second coordinate is If the second aiming distance is not equal to the first aiming distance, when the coordinates of the first crosshair table are adjusted to When , the coordinate change corresponding to the first cross-shooting table is ,in:

[0256] ;

[0257] ;

[0258] Calculate the second correction parameter using the preset compensation parameter ,in,

[0259] ;

[0260] ;

[0261] Due to the lens spacing, there is also a distance compensation at different aiming distances. Therefore, when the first cross-beam table coordinates are adjusted to When the second cross-shooting table is automatically adjusted to Where, the mapping relationship 2-1 is:

[0262] ;

[0263] ;

[0264] It can be understood that if the second cross-shooting table is used as a reference, that is, when the second cross-shooting table is adjusted to the coordinate At, the first cross-shooting table can be automatically adjusted to ( , ). Among them, the mapping relationship 2-2 is:

[0265] ;

[0266] ;

[0267] ;

[0268] In addition, if the first aiming distance is infinite, the first sub-compensation amount and the second sub-compensation They are: ;

[0269] It can be seen that through this solution, the aiming accuracy after correction can be further improved on the basis of achieving rapid correction.

[0270] Corresponding to the above method embodiment, the embodiment of the present application also provides a calibration device, which is applied to a dual-light path sight. The first light path sight corresponds to a first crosshair table, and the second light path sight corresponds to a second crosshair table, such as Figure 5 As shown, the device comprises:

[0271] A first acquisition module 510, configured to acquire a first correction parameter corresponding to a first cross-referencing table;

[0272] A first correction module 520, configured to correct the coordinates of the first cross-reference table according to the first correction parameters;

[0273] The second acquisition module 530 is used to acquire a pre-built mapping relationship; wherein the mapping relationship represents: a corresponding relationship between the coordinate change amount of the first cross-fire table and the coordinate change amount of the second cross-fire table;

[0274] The second correction module 540 is used to determine the target coordinates to which the second cross-reference table is to be adjusted based on the acquired mapping relationship and the first correction parameters, and adjust the second cross-reference table to the target coordinates.

[0275] Optionally, the first acquisition module 510 includes:

[0276] A first acquisition submodule is used to acquire, for the same target point at the first aiming distance, a first coordinate of the first crosshair table when a first imaging point of the target point in the first optical path sight coincides with the first crosshair table, and a second imaging point of the target point in the second optical path sight coincides with the second crosshair table;

[0277] A second acquisition submodule is used to acquire the third coordinate of the first crosshair table when the dual-optical path sight is in the first firing posture; wherein, when the dual-optical path sight is in the first firing posture, the first crosshair table coincides with the third imaging point of the to-be-aimed point at the second aiming distance in the first optical path sight;

[0278] The calculation submodule is used to calculate the coordinate change between the third coordinate and the first coordinate as a first correction parameter.

[0279] Optionally, the device further comprises:

[0280] A third acquisition module, for obtaining, for the same target point at the first aiming distance, a second coordinate of the second crosshair table when a first imaging point of the target point in the first optical path sight coincides with the first crosshair table, and a second imaging point of the target point in the second optical path sight coincides with the second crosshair table, before the second correction module 540 determines the target coordinates to which the second crosshair table is to be adjusted based on the acquired mapping relationship and the first correction parameter;

[0281] The second correction module 540 includes:

[0282] A correction submodule is used to calculate the target coordinates to which the second cross-beam table is to be adjusted under the first launch posture according to the second coordinates and the first correction parameters using the acquired mapping relationship, and adjust the second cross-beam table to the target coordinates so that the second cross-beam table coincides with a fourth imaging point of the point to be aimed at in the second optical path sight.

[0283] Optionally, the mapping relationship includes a first sub-mapping relationship based on a preset compensation parameter; the preset compensation parameter is used to compensate for: a difference between a coordinate change amount when the first crosshair table successively coincides with imaging points of two target points at the same aiming distance under the same launch posture, and a coordinate change amount when the second crosshair table successively coincides with imaging points of the two target points under the same launch posture;

[0284] The correction submodule is specifically used for:

[0285] According to the second coordinates and the first correction parameters, the preset compensation parameters are used to calculate the target coordinates to which the second crosshair table is to be adjusted in the first launch posture.

[0286] Optionally, the mapping relationship further includes a second sub-mapping relationship based on the distance compensation amount; the distance compensation amount is used to compensate for: a difference between an amount of coordinate change caused by the lens spacing when the first cross-radiometer coincides with the first imaging point and the third imaging point in the same emission posture, and an amount of coordinate change when the second cross-radiometer coincides with the second imaging point and the fourth imaging point in the same emission posture;

[0287] The device also includes:

[0288] a calculation module, configured to calculate a distance compensation amount according to a lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance before the correction submodule calculates the target coordinates to which the second crosshair table is to be adjusted in the first launch posture according to the second coordinates and the first correction parameter using the preset compensation parameter;

[0289] The correction submodule is specifically used for:

[0290] According to the second coordinates and the first correction parameter, the target coordinates to which the second crosshair table is to be adjusted in the first launch posture are calculated using the preset compensation parameter and the distance compensation amount.

[0291] Optionally, the preset compensation parameter represents: the ratio between the coordinate change amount when the second crosshair table successively coincides with the imaging points of two target points at the same aiming distance under the same launching posture and the coordinate change amount when the first crosshair table successively coincides with the imaging points of the two target points under the same launching posture;

[0292] The correction submodule is specifically used for:

[0293] Calculating the product of the preset compensation parameter and the first correction parameter to obtain a second correction parameter;

[0294] The sum of the second coordinate, the second correction parameter and the distance compensation amount is calculated to obtain the target coordinate to which the second crosshair table is to be adjusted in the first launch posture.

[0295] Optionally, the distance compensation amount includes a first sub-compensation amount in a width direction of the image coordinate system of the second optical path sight and a second sub-compensation amount in a height direction of the image coordinate system of the second optical path sight;

[0296] The computing module is specifically used for:

[0297] The distance compensation amount is calculated using a first formula according to the lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance; wherein the first formula includes:

[0298] ;

[0299] ;

[0300] in, is the first sub-compensation amount, is the second sub-compensation amount; is the second aiming distance, is the first aiming distance; is the pixel pitch of the second optical path sight, is the focal length of the second optical path sight; is the lens spacing between the first optical path sight and the second optical path sight in the horizontal direction of the world coordinate system, It is the lens spacing of the first optical path sight and the second optical path sight in the vertical direction of the world coordinate system.

[0301] Optionally, the preset compensation parameter represents: the ratio between the coordinate change amount when the second crosshair table successively coincides with the imaging points of two target points at the same aiming distance under the same launching posture and the coordinate change amount when the first crosshair table successively coincides with the imaging points of the two target points under the same launching posture;

[0302] The correction submodule is specifically used for:

[0303] Calculating the product of the preset compensation parameter and the first correction parameter to obtain a second correction parameter;

[0304] The sum of the second coordinates and the second correction parameter is calculated to obtain the target coordinates to which the second crosshair table is to be adjusted in the first launch posture.

[0305] Optionally, the method for determining the preset compensation parameter includes:

[0306] Determine a first imaging distance between imaging points of two target points on the target object at a third aiming distance in the first optical path sight, and a second imaging distance between imaging points of the two target points in the second optical path sight;

[0307] The ratio of the second imaging distance to the first imaging distance is calculated to obtain a preset compensation parameter.

[0308] Optionally, the preset compensation parameter is calculated according to a second formula; the second formula is:

[0309] ;

[0310] in, is the preset compensation parameter, represents the coordinate change when the first crosshair table coincides with the imaging points of two target points at the same aiming distance in the same launching posture, represents the coordinate change when the second cross-radius table successively coincides with the imaging points of the two target points under the same launching posture; is the pixel pitch of the sight in the first optical path, is the pixel pitch of the second optical path sight, is the focal length of the first optical path sight, is the focal length of the second optical path sight.

[0311] Optionally, the first coordinate and the second coordinate are determined by:

[0312] When the dual optical path sight is in the same emitting posture, the coordinates of the first crosshair table are obtained as the first coordinates when the first crosshair table coincides with the imaging point of the first target point at the first aiming distance in the first optical path sight; and the coordinates of the second crosshair table are obtained as the second coordinates when the second crosshair table coincides with the imaging point of the first target point in the second optical path sight.

[0313] Optionally, the first coordinate and the second coordinate are determined by:

[0314] Acquire the coordinates of the imaging point of the projectile landing point in the first optical path sight when the first crosshair table is aimed at the second target point at the first aiming distance and the projectile is launched, as the first coordinates of the first crosshair table;

[0315] The coordinates of the imaging point where the projectile lands in the second optical path sight when the second crosshair table aims at the second target point and launches are obtained as the second coordinates of the second crosshair table.

[0316] Optionally, the first coordinate and the second coordinate are determined by:

[0317] When parallel light is emitted to the first optical path sight and the second optical path sight using a collimator, the coordinates of the imaging point of the emitted parallel light in the first optical path sight are obtained as the first coordinates of the first crosshair table, and the coordinates of the imaging point of the emitted parallel light in the second optical path sight are obtained as the second coordinates of the second crosshair table.

[0318] In the technical solution of this application, the acquisition, storage, use, processing, transmission, provision and disclosure of coordinates involved are all carried out with the authorization of the user. In addition, the calibration and use scenarios of the transmitting device involved in the embodiments of this application are all carried out in compliance with relevant legal provisions.

[0319] The present application also provides an electronic device, such as Figure 6 As shown, including:

[0320] Memory 601, used for storing computer programs;

[0321] The processor 602 is used to implement any of the steps of the above-mentioned correction method when executing the program stored in the memory 601;

[0322] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 602, the communication interface, and the memory 601 communicate with each other via the communication bus.

[0323] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0324] The communication interface is used for communication between the above electronic device and other devices.

[0325] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0326] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0327] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above correction methods are implemented.

[0328] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any correction method in the above embodiments.

[0329] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0330] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0331] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, electronic device, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0332] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A calibration method, characterized in that: Applied to a dual-optical path sight, the first optical path sight corresponds to a first crosshair table, and the second optical path sight corresponds to a second crosshair table, the method includes: Obtaining a first correction parameter corresponding to a first cross-shooting table; Correcting the coordinates of the first crosshair table according to the first correction parameters; Acquire a pre-built mapping relationship; wherein the mapping relationship represents: a corresponding relationship between the coordinate change amount of the first cross-ray table and the coordinate change amount of the second cross-ray table; Based on the acquired mapping relationship and the first correction parameter, the target coordinates to which the second cross-reference table is to be adjusted are determined, and the second cross-reference table is adjusted to the target coordinates.

2. The method according to claim 1, characterized in that The obtaining of the first correction parameter corresponding to the first cross-referencing table includes: For the same target point at the first aiming distance, obtaining a first coordinate of the first crosshair table when a first imaging point of the target point in the first optical path sight coincides with the first crosshair table, and a second imaging point of the target point in the second optical path sight coincides with the second crosshair table; Acquire the third coordinate of the first crosshair table when the dual-optical path sight is in the first firing posture; wherein, when the dual-optical path sight is in the first firing posture, the first crosshair table coincides with the third imaging point of the to-be-aimed point at the second aiming distance in the first optical path sight; A coordinate change amount between the third coordinate and the first coordinate is calculated as a first correction parameter.

3. The method according to claim 2, characterized in that Before determining the target coordinates to which the second cross-reference table is to be adjusted based on the acquired mapping relationship and the first correction parameter, the method further includes: For the same target point at the first aiming distance, obtaining a second coordinate of the second crosshair table when a first imaging point of the target point in the first optical path sight coincides with the first crosshair table, and a second imaging point of the target point in the second optical path sight coincides with the second crosshair table; The determining, based on the acquired mapping relationship and the first correction parameter, the target coordinates to which the second cross-reference table is to be adjusted, and adjusting the second cross-reference table to the target coordinates, comprises: According to the second coordinates and the first correction parameters, the target coordinates to which the second crosshair table is to be adjusted under the first launching posture are calculated using the acquired mapping relationship, and the second crosshair table is adjusted to the target coordinates so that the second crosshair table coincides with the fourth imaging point of the point to be aimed at in the second optical path sight.

4. The method according to claim 3, characterized in that The mapping relationship includes a first sub-mapping relationship based on a preset compensation parameter; the preset compensation parameter is used to compensate for: the difference between the coordinate change amount when the first crosshair table is successively overlapped with the imaging points of two target points at the same aiming distance under the same launch posture, and the coordinate change amount when the second crosshair table is successively overlapped with the imaging points of the two target points under the same launch posture; Calculating the target coordinates to which the second crosshair table is to be adjusted under the first launch posture by using the acquired mapping relationship according to the second coordinates and the first correction parameter, includes: According to the second coordinates and the first correction parameters, the preset compensation parameters are used to calculate the target coordinates to which the second crosshair table is to be adjusted in the first launch posture.

5. The method according to claim 4, characterized in that The mapping relationship also includes a second sub-mapping relationship based on the distance compensation amount; the distance compensation amount is used to compensate for: the difference between the coordinate change amount caused by the lens spacing when the first cross-radiometer coincides with the first imaging point and the third imaging point in the same emission posture, and the coordinate change amount when the second cross-radiometer coincides with the second imaging point and the fourth imaging point in the same emission posture; Before calculating the target coordinates to which the second crosshair table is to be adjusted in the first launch posture using the preset compensation parameters according to the second coordinates and the first correction parameters, the method further includes: Calculating a distance compensation amount according to the lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance; Calculating the target coordinates to which the second crosshair table is to be adjusted in the first launch posture using the preset compensation parameters according to the second coordinates and the first correction parameters, includes: According to the second coordinates and the first correction parameter, the target coordinates to which the second crosshair table is to be adjusted in the first launch posture are calculated using the preset compensation parameter and the distance compensation amount.

6. The method according to claim 4, characterized in that The preset compensation parameter represents: the ratio between the coordinate change amount when the second crosshair table successively coincides with the imaging points of two target points at the same aiming distance under the same launching posture and the coordinate change amount when the first crosshair table successively coincides with the imaging points of the two target points under the same launching posture; According to the second coordinates and the first correction parameter, using the preset compensation parameter and the distance compensation amount, calculating the target coordinates to which the second crosshair table is to be adjusted in the first launch posture, including: Calculating the product of the preset compensation parameter and the first correction parameter to obtain a second correction parameter; The sum of the second coordinate, the second correction parameter and the distance compensation amount is calculated to obtain the target coordinate to which the second crosshair table is to be adjusted in the first launch posture.

7. The method according to claim 5 or 6, characterized in that: The distance compensation amount includes a first sub-compensation amount in the width direction of the image coordinate system of the second optical path sight and a second sub-compensation amount in the height direction of the image coordinate system of the second optical path sight; Calculating a distance compensation amount according to the lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance includes: The distance compensation amount is calculated using a first formula according to the lens spacing between the first optical path sight and the second optical path sight, the first aiming distance, and the second aiming distance; wherein the first formula includes: ; ; in, is the first sub-compensation amount, is the second sub-compensation amount; is the second aiming distance, is the first aiming distance; is the pixel pitch of the second optical path sight, is the focal length of the second optical path sight; is the lens spacing between the first optical path sight and the second optical path sight in the horizontal direction of the world coordinate system, It is the lens spacing of the first optical path sight and the second optical path sight in the vertical direction of the world coordinate system.

8. The method according to claim 4, characterized in that The preset compensation parameter represents: the ratio between the coordinate change amount when the second crosshair table successively coincides with the imaging points of two target points at the same aiming distance under the same launching posture and the coordinate change amount when the first crosshair table successively coincides with the imaging points of the two target points under the same launching posture; Calculating the target coordinates to which the second crosshair table is to be adjusted in the first launch posture using the preset compensation parameters according to the second coordinates and the first correction parameters, includes: Calculating the product of the preset compensation parameter and the first correction parameter to obtain a second correction parameter; The sum of the second coordinates and the second correction parameter is calculated to obtain the target coordinates to which the second crosshair table is to be adjusted in the first launch posture.

9. The method according to claim 8, characterized in that The method for determining the preset compensation parameter includes: Determine a first imaging distance between imaging points of two target points on the target object at a third aiming distance in the first optical path sight, and a second imaging distance between imaging points of the two target points in the second optical path sight; The ratio of the second imaging distance to the first imaging distance is calculated to obtain a preset compensation parameter.

10. The method according to claim 8, characterized in that The preset compensation parameter is calculated according to a second formula; the second formula is: ; in, is the preset compensation parameter, represents the coordinate change when the first crosshair table coincides with the imaging points of two target points at the same aiming distance in the same launching posture, represents the coordinate change when the second cross-radius table successively coincides with the imaging points of the two target points under the same launching posture; is the pixel pitch of the sight in the first optical path, is the pixel pitch of the second optical path sight, is the focal length of the first optical path sight, is the focal length of the second optical path sight.

11. The method according to claim 3, characterized in that The method for determining the first coordinate and the second coordinate includes: When the dual optical path sight is in the same emitting posture, the coordinates of the first crosshair table are obtained as the first coordinates when the first crosshair table coincides with the imaging point of the first target point at the first aiming distance in the first optical path sight; and the coordinates of the second crosshair table are obtained as the second coordinates when the second crosshair table coincides with the imaging point of the first target point in the second optical path sight.

12. The method according to claim 3, characterized in that The method for determining the first coordinate and the second coordinate includes: Acquire the coordinates of the imaging point of the projectile landing point in the first optical path sight when the first crosshair table is aimed at the second target point at the first aiming distance and the projectile is launched, as the first coordinates of the first crosshair table; The coordinates of the imaging point where the projectile lands in the second optical path sight when the second crosshair table aims at the second target point and launches are obtained as the second coordinates of the second crosshair table.

13. The method according to claim 3, characterized in that The method for determining the first coordinate and the second coordinate includes: When parallel light is emitted to the first optical path sight and the second optical path sight using a collimator, the coordinates of the imaging point of the emitted parallel light in the first optical path sight are obtained as the first coordinates of the first crosshair table, and the coordinates of the imaging point of the emitted parallel light in the second optical path sight are obtained as the second coordinates of the second crosshair table.

14. A calibration device, characterized in that: Applied to a dual-light path sight, the first light path sight corresponds to a first crosshair table, and the second light path sight corresponds to a second crosshair table, the device comprises: A first acquisition module, used to acquire a first correction parameter corresponding to a first cross-shooting table; A first correction module, configured to correct the coordinates of the first cross-reference table according to the first correction parameters; A second acquisition module is used to acquire a pre-built mapping relationship; wherein the mapping relationship represents: a corresponding relationship between the coordinate change amount of the first cross-shooting table and the coordinate change amount of the second cross-shooting table; The second correction module is used to determine the target coordinates to which the second cross-referencing table is to be adjusted based on the acquired mapping relationship and the first correction parameters, and adjust the second cross-referencing table to the target coordinates.

15. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing the method described in any one of claims 1 to 13 when executing a program stored in a memory.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 13 is implemented.

17. A computer program product, characterized in that The computer program product comprises executable instructions, and when the executable instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 13.

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