Device and method for detecting dynamic attitude measurement precision of vehicle-mounted photoelectric system

Abstract

The invention provides a device and method for detecting the dynamic attitude measurement precision of a vehicle-mounted photoelectric system, and the device comprises a dynamic attitude measurement device, and the vehicle-mounted photoelectric system is provided with the dynamic attitude measurement device. The dynamic attitude measurement device coincides the cross curve of the small field of view of the visible light television with the cross curve of the target so as to align the target, the dynamic attitude measurement device is connected with the portable industrial personal computer through a CAN bus, and the portable industrial personal computer obtains dynamic attitude measurement data by analyzing data of the CAN bus. The detection method comprises the following steps: installing and leveling the dynamic attitude measurement device, and determining an installation error between the dynamic attitude measurement device and a target; acquiring position information of the target and outputting dynamic attitude measurement parameters; repeating the step 2 until the portable industrial personal computer records m groups of dynamic attitude measurement parameters; and calculating the dynamic attitude measurement precision of the m groups of dynamic attitude measurement parameters based on a dynamic attitude measurement precision calculation formula. According to the invention, automatic acquisition, processing and storage of dynamic attitude measurement data are realized, and the detection efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of photoelectric detection, and in particular relates to a detection device and method for the dynamic attitude measurement accuracy of a vehicle-mounted photoelectric system. Background Art

[0002] Vehicle-mounted optoelectronic systems are used for reconnaissance, target tracking, intelligence gathering, and other tasks, providing real-time, accurate information. When used for reconnaissance, optoelectronic reconnaissance systems utilize optoelectronic equipment to receive and process light radiation from or reflected by a target to detect and identify it.

[0003] The dynamic attitude measurement device provides precise attitude information to the vehicle-mounted optoelectronic system. This information is used by the optoelectronic reconnaissance system to calculate the target's position and assist in the target's indication function. Dynamic attitude measurement is a core component of the optoelectronic reconnaissance system, and its output accuracy directly affects the positioning accuracy of the target. Therefore, the output accuracy of dynamic attitude measurement is a crucial performance indicator of the optoelectronic system.

[0004] At present, the test of dynamic attitude measurement accuracy in the existing technology is to use a test computer to simulate the host computer according to the technical protocol, send simulated navigation system information, initial azimuth angle and attitude angle and other information to the optoelectronic turret dynamic angle measurement device, and at the same time receive and display the attitude information sent by the dynamic attitude measurement device.

[0005] Testers were required to manually record attitude information, such as heading, pitch, and roll, every three minutes for a one-hour test. The 20 sets of recorded data were then processed according to a calculation formula to determine the dynamic attitude measurement accuracy. Therefore, the test process required manual recording of the output attitude measurement data, which was labor-intensive, prone to recording errors, and inefficient. Summary of the Invention

[0006] The purpose of the present invention is to solve the shortcomings of the existing technology that the workload of personnel recording is large and errors may occur easily, and to provide a detection device for the dynamic attitude measurement accuracy of a vehicle-mounted photoelectric system, which realizes the automatic collection, processing and storage of dynamic attitude measurement data, reduces the repetitive work of detection personnel, and improves detection efficiency.

[0007] To achieve the above objectives, the technical solutions provided by the present invention are:

[0008] In one aspect, the present invention provides a device for detecting the dynamic attitude measurement accuracy of an on-board optoelectronic system, comprising a portable industrial computer that collects, stores, processes dynamic attitude measurement data from the on-board optoelectronic system and outputs attitude measurement accuracy data; wherein:

[0009] The vehicle-mounted optoelectronic system is equipped with a dynamic attitude measurement device. The portable industrial computer binds the geographic coordinates of the vehicle-mounted optoelectronic system to the dynamic attitude measurement device and sends a command for measuring installation errors to the dynamic attitude measurement device. The portable industrial computer receives output data from the dynamic attitude measurement device and obtains the installation error that needs to be compensated.

[0010] The on-board optoelectronic system includes a visible light television, and the dynamic attitude measurement device overlaps the crosshairs in the small field of view of the visible light television with the crosshairs in the target to assist in calibrating the initial position parameters of the dynamic attitude measurement device. Specifically, the crosshairs in the small field of view are derived from the television image of the on-board optoelectronic system, and the target provides a north reference for the on-board optoelectronic system.

[0011] The portable industrial computer collects, stores and displays the image output by the vehicle-mounted optoelectronic system to align with the target; the dynamic attitude measurement data output by the dynamic attitude measurement device is output by the vehicle-mounted optoelectronic system through the CAN bus, and the portable industrial computer obtains the dynamic attitude measurement data of the dynamic attitude measurement device by parsing the CAN bus data.

[0012] Based on one aspect, in a preferred embodiment of the present invention, the portable industrial computer includes:

[0013] An image acquisition module, which is used to receive visible light television and infrared thermal imager images from the vehicle-mounted optoelectronic system and perform format conversion;

[0014] CAN bus board, which is used for collecting, receiving, transmitting and analyzing bus data of the vehicle optoelectronic system;

[0015] An Ethernet card is used for outputting dynamic attitude measurement data.

[0016] Based on one aspect, in a preferred embodiment of the present invention, the image acquisition module includes:

[0017] A video image acquisition circuit, which acquires visible light television and infrared thermal imager images of the vehicle-mounted optoelectronic system;

[0018] A video format conversion circuit is provided for converting the formats of visible light television and infrared thermal imager images of a vehicle-mounted optoelectronic system.

[0019] Based on one aspect, in a preferred embodiment of the present invention, the portable industrial computer further includes:

[0020] A touch screen display, which is used to display visible light television and infrared thermal imager images of the vehicle-mounted optoelectronic system;

[0021] The power adapter converts the 220V AC input voltage into a 28V DC output voltage, providing the required voltage for the detection device.

[0022] Based on one aspect, in a preferred embodiment of the present invention, the portable industrial computer further includes:

[0023] The human-computer interaction interface is displayed on a touch screen. The human-computer interaction interface includes: a dynamic attitude measurement installation error binding area, a dynamic attitude measurement data display area, and an operation instruction area; wherein:

[0024] The dynamic attitude measurement installation error binding area includes the binding of dynamic attitude measurement heading error, pitch error and roll error, and is used for binding the installation error between the dynamic attitude measurement device and the target;

[0025] The dynamic posture measurement data display area is used for displaying dynamic posture measurement data;

[0026] The operation instruction area includes starting test, stopping test, clearing data, accuracy calculation, and data saving, and the dynamic attitude measurement device can be controlled by touching and clicking.

[0027] Based on one aspect, in a preferred embodiment of the present invention, the portable industrial computer includes an industrial computer motherboard;

[0028] The detection software runs on the mainboard of the industrial computer. The implementation process of the detection software includes:

[0029] Create a display window: create a human-computer interaction dialog box, add human-computer interaction function buttons and a list control for displaying test data;

[0030] Collecting dynamic attitude measurement data: The portable industrial computer transmits and receives data with the dynamic attitude measurement device via the CAN bus. The dynamic link library is introduced to implement the parsing, transmission and reception of bus data, and obtain real-time data of dynamic attitude measurement. The real-time heading angle, pitch angle and roll angle data of dynamic attitude measurement are stored in global variables for easy data call and display.

[0031] Data storage and display: Initialize the list control, set the list format and header parameters "test point", "heading angle", and "roll angle", and write the obtained dynamic attitude parameter data into the list control through the list control function for data storage and display;

[0032] Automatic data collection: Start the timer and set the time interval to tmin according to the test method. By calling the OnTimer() function, the attitude data recording program is triggered to record a set of dynamic attitude data every tmin. When the recorded data reaches 20 sets, the function is called to stop the timer, end the automatic collection function, and call the MessageBox() function to prompt that the data collection of this test is completed.

[0033] Attitude measurement accuracy calculation: Edit the calculation formula according to the attitude measurement accuracy calculation formula in the test method, automatically process the attitude measurement data, calculate the dynamic attitude heading accuracy and pitch accuracy, and output the attitude measurement accuracy calculation results;

[0034] Data output and saving: By looping and calling the m_list.GetColumn() function, all string contents in the listctrl list control are obtained, the CFileDialog dlg() function is called to set the output file type, and the GetPathName() function is called to obtain the file save path to realize the output and saving of the detection data file; by calling the GetCurrentTime() function, the system time is obtained and the detection time is added when saving the file; by calling the AfxMessageBox() function, a prompt box pops up, prompting "File has been generated" as a sign of test completion, thus completing this test.

[0035] On the other hand, an embodiment of the present invention provides a method for detecting the dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system, comprising:

[0036] Step 1: Place an optoelectronic turntable equipped with a dynamic attitude measurement device on a leveling test bench and connect it to a portable industrial computer. Adjust the leveling test bench so that the optoelectronic turntable is in a horizontal state. Adjust the servo system of the optoelectronic turntable so that the crosshairs in the small field of view of the television on the optoelectronic turntable coincide with the crosshairs of the target, and obtain initial angle information of the dynamic attitude measurement device. The initial angle information includes the heading angle αg, the pitch angle θg, and the roll angle γg.

[0037] Step 2: The portable industrial computer binds the geographic coordinates of the vehicle-mounted optoelectronic system to the dynamic attitude measurement device, and the portable industrial computer sends a measurement installation error command to the dynamic attitude measurement device, and the portable industrial computer obtains installation error information of the dynamic attitude measurement device; wherein the installation error information includes a pitch error angle θ and a roll error angle γ;

[0038] Step 3: The portable industrial computer sends an initial angle command to the dynamic attitude measurement device, and the portable industrial computer parses the CAN bus data of the vehicle-mounted optoelectronic system to obtain a set of test data; wherein the initial angle command includes: the heading angle αg, the pitch angle θg+θ, and the roll angle γ after compensation for installation errors; the test data includes: the heading angle α, the pitch angle θ, and the roll angle γ obtained by parsing the CAN bus data, and the azimuth angle error δα, the pitch angle error δθ, and the roll angle error δγ obtained by software calculation, and the test data is automatically recorded and stored;

[0039] Step 4: The portable industrial computer records and stores test data sent by the vehicle-mounted optoelectronic system every tmin, during which the vehicle-mounted optoelectronic system is always aimed at the target crosshairs; wherein the test data includes: heading angle α, pitch angle θ and roll angle γ;

[0040] Step 5: Repeat step 4 until the portable industrial computer records and stores n sets of test data; perform dynamic attitude measurement accuracy calculation based on the dynamic attitude measurement accuracy calculation formula; wherein:

[0041] The calculation formula for dynamic attitude measurement accuracy is:

[0042]

[0043] Where, σ α Indicates the heading angle measurement accuracy result, δα indicates the azimuth angle error, m indicates m groups of test data, Represents the sum of squares of n-1 groups of azimuth angle errors;

[0044]

[0045] Where, σ θ represents the attitude measurement accuracy of the pitch angle, δθ represents the pitch angle error, represents the sum of squares of m-1 groups of pitch angle errors;

[0046]

[0047] Where, σ γ It represents the attitude measurement accuracy of the roll angle, δγ represents the roll angle error, Represents the sum of squares of m-1 groups of roll angle errors.

[0048] Based on another aspect, in a preferred embodiment of the present invention, in step 1, the visible light television small field of view of the vehicle-mounted optoelectronic system is aimed at the target, and the geographic orientation error between the dynamic attitude measurement device and the target is the installation error; the installation error is bound to the dynamic attitude measurement device, and the initial position parameter of the dynamic attitude measurement device is compensated;

[0049] In the step 1, the dynamic attitude measurement installation error binding area of the portable industrial computer displays the installation error;

[0050] In the step 2, the dynamic attitude measurement data display area of the portable industrial computer displays dynamic attitude measurement parameters.

[0051] The advantages of the present invention are:

[0052] 1. The present invention realizes the automatic collection, processing and storage of dynamic posture measurement data, reduces the repetitive work of detection personnel, and improves detection efficiency.

[0053] 2. The present invention realizes the automatic collection of dynamic attitude measurement data, without the need for detection personnel to participate in the data recording and processing process, eliminating errors caused by human factors and improving data accuracy; the present invention adopts detection software to realize the detection of dynamic attitude measurement accuracy, with a simple algorithm and high portability, and is suitable for the detection of dynamic attitude measurement accuracy of similar optoelectronic systems.

[0054] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0056] Figure 1 : Schematic diagram of a detection device for the dynamic attitude measurement accuracy of a vehicle-mounted photoelectric system provided by the present invention;

[0057] Figure 2 : Schematic diagram of the portable industrial computer provided by the present invention;

[0058] Figure 3 : Illustration of the portable industrial computer provided by the present invention;

[0059] Figure 4 : The human-computer interaction interface diagram provided by the present invention;

[0060] Figure 5 : Flowchart of the detection software provided by the present invention;

[0061] Figure 6 : The human-computer interaction interface diagram provided by the present invention;

[0062] Figure 7 : The execution status interface diagram provided by the present invention;

[0063] Figure 8 : Schematic diagram of the execution state provided by the present invention;

[0064] Reference numerals: 1 - upper part; 2 - lower part. DETAILED DESCRIPTION

[0065] The following describes in detail embodiments of the present invention. The embodiments are exemplary and intended to explain the present invention, but are not to be construed as limiting the present invention.

[0066] See also Figure 1 The embodiment of the present invention provides a device for detecting the dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system, comprising a portable industrial computer, which collects, stores, processes dynamic attitude measurement data from the vehicle-mounted optoelectronic system and outputs attitude measurement accuracy data; wherein:

[0067] The on-board photoelectric system is equipped with a dynamic attitude measurement device. The portable industrial computer binds the geographic coordinates of the on-board photoelectric system to the dynamic attitude measurement device and sends a measurement and installation command to the dynamic attitude measurement device. The portable industrial computer receives output data from the dynamic attitude measurement device and obtains the installation error that needs to be compensated.

[0068] The on-board optoelectronic system includes a visible light television. The dynamic attitude measurement device aligns the crosshairs in the small field of view of the visible light television with the crosshairs in the target to assist in calibrating the initial position parameters of the dynamic attitude measurement device. Specifically, the crosshairs in the small field of view are derived from the television image of the on-board optoelectronic system, and the target provides a north reference for the on-board optoelectronic system.

[0069] The portable industrial computer collects, stores and displays the images output by the vehicle-mounted optoelectronic system to align with the target; the dynamic attitude measurement data output by the dynamic attitude measurement device is output by the vehicle-mounted optoelectronic system through the CAN bus, and the portable industrial computer obtains the dynamic attitude measurement data of the dynamic attitude measurement device by parsing the CAN bus data.

[0070] Please continue reading Figure 1Specifically, in the detection device of the embodiment of the present invention, the on-board optoelectronic system includes a visible light television, an infrared thermal imager, a laser light finder, and a servo system. The visible light television's small field of view is used to aim at the north reference, independent of the infrared thermal imager and laser light finder. The servo system of the embodiment of the present invention includes a rotating platform, a dynamic attitude measurement device, a servo motor, a servo control, and a servo drive circuit. Therefore, the dynamic attitude measurement device of the embodiment of the present invention is the product to be tested. The leveling test bench of the embodiment of the present invention is used to adjust the pitch and tilt angles of the optoelectronic system to ensure levelness. The target of the embodiment of the present invention provides a north reference for the optoelectronic system. The power supply of the embodiment of the present invention includes two 28V outputs for powering the on-board optoelectronic system and a portable industrial computer; and one 6V output for providing the light source required by the target. The portable industrial computer of the embodiment of the present invention communicates with the on-board optoelectronic system via the CAN bus, which is used to bind the position information and installation errors of the dynamic attitude measurement device and to read the heading, pitch, and roll angles output by the dynamic attitude measurement.

[0071] For further information, see Figure 3 The embodiment of the present invention discloses a detection device for the dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system. The device uses a portable industrial computer reinforced with an upper and lower folding structure as a processing platform. The upper part 1 is a touch screen display for displaying visible light and infrared thermal image information of the optoelectronic system; the lower part 2 includes a military-grade industrial computer motherboard, an image acquisition module, a communication module, a touch screen display, and a power adapter.

[0072] Specifically, see Figure 2 The portable industrial computer of the embodiment of the present invention includes: an image acquisition module, a CAN bus card and an Ethernet card, wherein: the image acquisition module is used to receive visible light television and infrared thermal imager images of the vehicle-mounted optoelectronic system and perform format conversion; the CAN bus card is used to collect, transmit, receive and analyze bus data of the vehicle-mounted optoelectronic system; and the Ethernet card is used to output dynamic posture measurement data. Please continue to refer to Figure 2 The communication module in this embodiment of the present invention includes a CAN bus card, an Ethernet card, and an RS232 / 242 serial port card. The CAN bus card is used to collect, transmit, receive, and analyze bus data from the vehicle's optoelectronic system; the Ethernet card is used to output data from the dynamic attitude detection device; the RS232 / 242 serial port card is used to expand device functionality; and the touch screen display is used to display the human-computer interaction interface and input control commands into the military-grade industrial control motherboard through touch and click.

[0073] Preferably, the above-mentioned image acquisition module in the embodiment of the present invention includes: a video image acquisition circuit and a video format conversion circuit, the video image acquisition circuit acquires visible light television and infrared thermal imager images of the vehicle-mounted optoelectronic system; the video format conversion circuit converts the format of the visible light television and infrared thermal imager images of the vehicle-mounted optoelectronic system.

[0074] The above-mentioned portable industrial computer in the embodiment of the present invention, in addition to including an image acquisition module, a CAN bus board and an Ethernet card, also includes a touch display and a power adapter. The touch display is used to display the visible light TV and infrared thermal imager images of the vehicle-mounted optoelectronic system; the power adapter completes the 220V AC input voltage and 28V DC output voltage conversion function. The power adapter stably outputs 28V DC voltage to provide the required voltage for the detection device.

[0075] On the basis of the above, the portable industrial computer of the embodiment of the present invention further includes a human-computer interaction interface, which is displayed on the touch screen. Figure 4 The human-computer interaction interface of the embodiment of the present invention includes: a dynamic attitude measurement installation error binding area, a dynamic attitude measurement data display area, and an operation instruction area. The dynamic attitude measurement installation error binding area includes the binding of the dynamic attitude heading error, pitch error, and roll error, and is used to bind the installation error between the dynamic attitude measurement device and the target; the dynamic attitude measurement data display area is used to display the dynamic attitude measurement data; the operation instruction area includes start test, stop test, clear data, accuracy calculation, and data save, and the dynamic attitude measurement device can be controlled by touch and click. The data save operation is used to store the dynamic attitude measurement data. Through this operation, the dynamic attitude measurement data is automatically saved as an Excel file and stored in a specified location.

[0076] Furthermore, the portable industrial computer of the embodiment of the present invention further includes an industrial computer motherboard; the industrial computer motherboard runs detection software, and the implementation process of the detection software includes:

[0077] Create a display window: create a human-computer interaction dialog box, add human-computer interaction function buttons and a list control for displaying test data;

[0078] Collecting dynamic attitude measurement data: The portable industrial computer transmits and receives data with the dynamic attitude measurement device via the CAN bus. The dynamic link library is introduced to implement the parsing, transmission and reception of bus data, and obtain real-time data of dynamic attitude measurement. The real-time heading angle, pitch angle and roll angle data of dynamic attitude measurement are stored in global variables for easy data call and display.

[0079] Data storage and display: Initialize the list control, set the list format and header parameters "test point", "heading angle", and "roll angle", and write the obtained dynamic attitude parameter data into the list control through the list control function for data storage and display;

[0080] Automatic data collection: Start the timer and set the time interval to tmin according to the test method. By calling the OnTimer() function, the attitude data recording program is triggered to record a set of dynamic attitude data every tmin. When the recorded data reaches 20 sets, the function is called to stop the timer, end the automatic collection function, and call the MessageBox() function to prompt that the data collection of this test is completed.

[0081] Attitude measurement accuracy calculation: Edit the calculation formula according to the attitude measurement accuracy calculation formula in the test method, automatically process the attitude measurement data, calculate the dynamic attitude heading accuracy and pitch accuracy, and output the attitude measurement accuracy calculation results;

[0082] Data output and saving: By looping and calling the m_list.GetColumn() function, all string contents in the listctrl list control are obtained, the CFileDialog dlg() function is called to set the output file type, and the GetPathName() function is called to obtain the file save path to realize the output and saving of the detection data file; by calling the GetCurrentTime() function, the system time is obtained and the detection time is added when saving the file; by calling the AfxMessageBox() function, a prompt box pops up, prompting "File has been generated" as a sign of test completion, thus completing this test.

[0083] In addition, an embodiment of the present invention further provides a method for detecting the dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system, comprising:

[0084] Step 1: Place the photoelectric turntable equipped with a dynamic attitude measurement device on a leveling test bench and connect it to a portable industrial computer. Adjust the leveling test bench so that the photoelectric turntable is in a horizontal state. Adjust the servo system of the photoelectric turntable so that the crosshairs in the small field of view of the TV of the photoelectric turntable coincide with the crosshairs of the target to obtain the initial angle information of the dynamic attitude measurement device. The initial angle information includes the heading angle αg, the pitch angle θg, and the roll angle γg.

[0085] The visible light television small field of view of the vehicle-mounted optoelectronic system of the embodiment of the present invention is aimed at the target, the geographical orientation error between the dynamic attitude measurement accuracy detection device and the target is the installation error, the installation error is bound to the dynamic attitude measurement system of the dynamic attitude measurement device, the initial position parameters of the dynamic attitude measurement device are compensated, and the dynamic attitude installation error binding area of the portable industrial computer displays the installation error.

[0086] Step 2. The portable industrial computer binds the geographic coordinates of the vehicle-mounted optoelectronic system to the dynamic attitude measurement device, and the portable industrial computer sends a measurement installation error command to the dynamic attitude measurement device, and the portable industrial computer obtains the installation error information of the dynamic attitude measurement device; wherein, the installation error information includes the pitch error angle θ and the roll error angle γ; the portable industrial computer sends an initial angle command to the dynamic attitude measurement device, and the portable industrial computer parses the CAN bus data of the vehicle-mounted optoelectronic system to obtain a set of test data; wherein, the initial angle command includes: the heading angle αg, the pitch angle θg+θ and the roll angle γ after compensation for the installation error; the test data includes: the heading angle α, the pitch angle θ and the roll angle γ obtained by parsing the CAN bus data, and the azimuth angle error δα, the pitch angle error δθ and the roll angle error δγ obtained by software calculation, and the test data is automatically recorded and stored. The portable industrial computer records and stores test data sent by the on-board optoelectronic system every t minutes. During this process, the on-board optoelectronic system is always aimed at the target crosshairs. The test data includes heading angle, pitch angle, roll angle, azimuth angle error, pitch angle error, and roll angle error, and is automatically recorded and stored. The heading angle, pitch angle, and roll angle are obtained by parsing CAN bus data, while the azimuth angle error, pitch angle error, and roll angle error are calculated by software.

[0087] See also Figure 5 ,When the test starts, the geographic information of the ,photoelectric system to be tested is sent to the dynamic attitude ,measurement, and the dynamic attitude measurement output parameters are ,collected. The dynamic attitude measurement data display area of the ,portable industrial computer displays the dynamic attitude ,parameters.

[0088] It should be noted that since the installation error and initial angles (heading angle error, pitch angle error, and roll angle error) only need to be bound once, step 2 of the embodiment of the present invention is specifically as follows: the portable industrial computer sends an initial angle command to the dynamic attitude measurement device, the dynamic attitude measurement device receives navigation data and outputs the data to the portable industrial computer. After receiving the data, the portable industrial computer begins timing and recording the heading angle α, pitch angle θ, and roll angle γ, and compares them with the heading angle αg, pitch angle θg+θ, and roll angle γ after compensating for the installation error, respectively, to obtain a set of azimuth angle error δα, pitch angle error δθ, and roll angle error δγ. The portable industrial computer records and stores the test data sent by the on-board optoelectronic system every tmin. The first set of test data requires error binding, and subsequent test data recorded every tmin does not require error binding until 20 sets of test data are obtained.

[0089] Step 3: Repeat step 2 until the portable industrial computer records and stores m sets of test data;

[0090] In step 3 of the embodiment of the present invention, please continue to refer to Figure 5, also includes recording and storing posture data, saving the collected parameters and displaying them in the data display area of the detection software; preferably m is 20, and step 2 is repeated until 20 sets of data have been recorded.

[0091] Step 4: Calculate the dynamic attitude measurement accuracy of m groups of dynamic attitude measurement parameters based on the dynamic attitude measurement accuracy calculation formula.

[0092] The embodiment of the present invention performs dynamic attitude measurement accuracy calculation based on the dynamic attitude measurement accuracy calculation formula; wherein:

[0093] The calculation formula for dynamic attitude measurement accuracy is:

[0094]

[0095] Where, σ α Indicates the heading angle measurement accuracy result, δα indicates the azimuth angle error, m indicates m groups of test data, represents the sum of squares of m-1 groups of azimuth angle errors;

[0096]

[0097] Where, σ θ represents the attitude measurement accuracy of the pitch angle, δθ represents the pitch angle error, represents the sum of squares of m-1 groups of pitch angle errors;

[0098]

[0099] Where, σ γ It represents the attitude measurement accuracy of the roll angle, δγ represents the roll angle error, The dynamic attitude measurement accuracy and dynamic attitude measurement parameters obtained by the embodiment of the present invention are automatically saved as an Excel file and stored in a specified location.

[0100] It should be noted that, during the detection process of the detection method of the embodiment of the present invention, if the azimuth angle error σ α ≤0.2mil, pitch angle error σ θ If the value is ≤0.5 mil, the test result is qualified.

[0101] See also Figure 4 、 Figure 6 、 Figure 7 and Figure 8The human-computer interaction control interface of the embodiment of the present invention includes a dynamic attitude measurement installation error binding area a, a dynamic attitude measurement data display area b, and an operation instruction area c. The dynamic attitude measurement installation error binding area a is used to bind the dynamic attitude heading error, pitch error, and roll installation error, and is used to input the binding of dynamic attitude and visible light television installation errors; the dynamic attitude measurement data display area b is used to display dynamic attitude data; the operation instruction area c includes operations such as starting a test, stopping a test, clearing data, precision calculation, and data saving, and the device can be controlled by touching and clicking; the data saving operation is used to store dynamic attitude data, automatically saving the dynamic attitude data as an Excel file and storing it in a specified location.

[0102] The detection device of the embodiment of the present invention is highly integrated, combining the optoelectronic system image display with the attitude measurement accuracy detection, and has good portability. The detection software of the embodiment of the present invention is simple to operate, automatically completes data collection, processing and record file output, and has high detection efficiency.

[0103] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present invention, and these modifications or replacements should all be included in the scope of protection of the present invention.

Claims

1. A detection device for the dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system, characterized in that: It includes a portable industrial computer, which collects, stores, processes and outputs the dynamic attitude measurement data of the vehicle-mounted photoelectric system and attitude measurement accuracy data; wherein: The vehicle-mounted optoelectronic system is equipped with a dynamic attitude measurement device. The portable industrial computer binds the geographic coordinates of the vehicle-mounted optoelectronic system to the dynamic attitude measurement device and sends a command for measuring installation errors to the dynamic attitude measurement device. The portable industrial computer receives output data from the dynamic attitude measurement device and obtains the installation error that needs to be compensated. The on-board optoelectronic system includes a visible light television, and the dynamic attitude measurement device aligns the crosshairs in the small field of view of the visible light television with the crosshairs in the target to assist in calibrating the initial position parameters of the dynamic attitude measurement device. Specifically, the crosshairs in the small field of view are derived from the television image of the on-board optoelectronic system, and the target provides a north reference for the on-board optoelectronic system. The portable industrial computer collects, stores and displays the image output by the vehicle-mounted optoelectronic system to align with the target; the dynamic attitude measurement data output by the dynamic attitude measurement device is output by the vehicle-mounted optoelectronic system through the CAN bus, and the portable industrial computer obtains the dynamic attitude measurement data of the dynamic attitude measurement device by parsing the CAN bus data.

2. A detection device for dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system according to claim 1, characterized in that: The portable industrial computer comprises: An image acquisition module, which is used to receive visible light television and infrared thermal imager images from the vehicle-mounted optoelectronic system and perform format conversion; CAN bus board, which is used for collecting, receiving, transmitting and analyzing bus data of the vehicle optoelectronic system; An Ethernet card is used for outputting dynamic attitude measurement data.

3. The detection device for dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system according to claim 2, characterized in that: The image acquisition module includes: A video image acquisition circuit, which acquires visible light television and infrared thermal imager images of the vehicle-mounted optoelectronic system; A video format conversion circuit is provided for converting the formats of visible light television and infrared thermal imager images of a vehicle-mounted optoelectronic system.

4. The detection device for dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system according to claim 2, characterized in that: The portable industrial computer further comprises: A touch screen display, which is used to display visible light television and infrared thermal imager images of the vehicle-mounted optoelectronic system; The power adapter converts the 220V AC input voltage into a 28V DC output voltage, providing the required voltage for the detection device.

5. The detection device for dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system according to claim 4, characterized in that: The portable industrial computer further comprises: The human-computer interaction interface is displayed on a touch screen. The human-computer interaction interface includes: a dynamic attitude measurement installation error binding area, a dynamic attitude measurement data display area, and an operation instruction area; wherein: The dynamic attitude measurement installation error binding area includes the binding of dynamic attitude measurement heading error, pitch error and roll error, and is used for binding the installation error between the dynamic attitude measurement device and the target; The dynamic posture measurement data display area is used for displaying dynamic posture measurement data; The operation instruction area includes starting test, stopping test, clearing data, accuracy calculation, and data saving, and the dynamic attitude measurement device can be controlled by touching and clicking.

6. The detection device for dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system according to claim 1, characterized in that: The portable industrial computer includes an industrial computer motherboard; The detection software runs on the mainboard of the industrial computer. The implementation process of the detection software includes: Create a display window: create a human-computer interaction dialog box, add human-computer interaction function buttons and a list control for displaying test data; Collecting dynamic attitude measurement data: The portable industrial computer transmits and receives data with the dynamic attitude measurement device via the CAN bus. The dynamic link library is introduced to implement the parsing, transmission and reception of bus data, and obtain real-time data of dynamic attitude measurement. The real-time heading angle, pitch angle and roll angle data of dynamic attitude measurement are stored in global variables for easy data call and display. Data storage and display: Initialize the list control, set the list format and header parameters "test point", "heading angle", and "roll angle", and write the obtained dynamic attitude parameter data into the list control through the list control function for data storage and display; Automatic data collection: Start the timer and set the time interval to tmin according to the test method. By calling the OnTimer() function, the attitude data recording program is triggered to record a set of dynamic attitude data every tmin. When the recorded data reaches 20 sets, the function is called to stop the timer, end the automatic collection function, and call the MessageBox() function to prompt that the data collection of this test is completed. Attitude measurement accuracy calculation: Edit the calculation formula according to the attitude measurement accuracy calculation formula in the test method, automatically process the attitude measurement data, calculate the dynamic attitude heading accuracy and pitch accuracy, and output the attitude measurement accuracy calculation results; Data output and saving: By cyclically calling the m_list.GetColumn() function, all string contents in the listctrl list control are obtained, the CFileDialog dlg() function is called to set the output file type, and the GetPathName() function is called to obtain the file save path to realize the output and saving of the detection data file; by calling the GetCurrentTime() function, the system time is obtained and the detection time is added when saving the file; by calling the AfxMessageBox() function, a prompt box pops up, prompting "File has been generated" as a sign of test completion, thus completing this test.

7. A method for detecting the dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system, characterized in that: include: Step 1: Place the photoelectric turntable equipped with a dynamic attitude measurement device on a leveling test bench and connect it to a portable industrial computer, and adjust the leveling test bench so that the photoelectric turntable is in a horizontal state; Adjusting the servo system of the photoelectric turntable so that the crosshairs in the small field of view of the TV of the photoelectric turntable coincide with the crosshairs of the target, thereby obtaining the initial angle information of the dynamic attitude measurement device; wherein the initial angle information includes the heading angle αg, the pitch angle θg, and the roll angle γg; Step 2: The portable industrial computer binds the geographic coordinates of the vehicle-mounted optoelectronic system to the dynamic attitude measurement device, and the portable industrial computer sends a measurement installation error command to the dynamic attitude measurement device, and the portable industrial computer obtains installation error information of the dynamic attitude measurement device; wherein the installation error information includes a pitch error angle θ and a roll error angle γ; Step 3: The portable industrial computer sends an initial angle command to the dynamic attitude measurement device, and the portable industrial computer parses the CAN bus data of the vehicle-mounted optoelectronic system to obtain a set of test data; wherein the initial angle command includes: the heading angle αg, the pitch angle θg+θ, and the roll angle γ after compensation for installation errors; the test data includes: the heading angle α, the pitch angle θ, and the roll angle γ obtained by parsing the CAN bus data, and the azimuth angle error δα, the pitch angle error δθ, and the roll angle error δγ obtained by software calculation, and the test data is automatically recorded and stored; Step 4: The portable industrial computer records and stores test data sent by the vehicle-mounted optoelectronic system every tmin, during which the vehicle-mounted optoelectronic system is always aimed at the target crosshairs; wherein the test data includes: heading angle α, pitch angle θ and roll angle γ; Step 5: Repeat step 4 until the portable industrial computer records and stores n sets of test data; perform dynamic attitude measurement accuracy calculation based on the dynamic attitude measurement accuracy calculation formula; wherein: The calculation formula for dynamic attitude measurement accuracy is: Where, σ α Indicates the heading angle measurement accuracy result, δα indicates the azimuth angle error, m indicates m groups of test data, represents the sum of squares of m-1 groups of azimuth angle errors; Where, σ θ represents the attitude measurement accuracy of the pitch angle, δθ represents the pitch angle error, represents the sum of squares of m-1 groups of pitch angle errors; Where, σ γ It represents the attitude measurement accuracy of the roll angle, δγ represents the roll angle error, Represents the sum of squares of m-1 groups of roll angle errors.

8. A method for detecting the dynamic attitude measurement accuracy of a vehicle-mounted optoelectronic system according to claim 7, characterized in that: In the step 1, the visible light television small field of view of the vehicle-mounted optoelectronic system is aimed at the target, and the geographic orientation error between the dynamic attitude measurement device and the target is the installation error; the installation error is bound to the dynamic attitude measurement device to compensate for the initial position parameters of the dynamic attitude measurement device; In the step 1, the dynamic attitude measurement installation error binding area of the portable industrial computer displays the installation error; In the step 2, the dynamic attitude measurement data display area of the portable industrial computer displays dynamic attitude measurement parameters.

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