Target range emplacement geodetic coordinate measurement and shooting direction calibration method and device
By combining a circumferential angle measuring device and a laser designator with trigonometric function calculations, the problem of GNSS signal dependence in artillery firing at the firing range was solved, achieving efficient and low-cost gun position coordinate measurement and firing direction calibration, which can be completed by a single person.
Patent Information
- Application Number
- CN202511869816.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-11
- Publication Date
- 2026-04-21
AI Technical Summary
In existing artillery firing tests at firing ranges, the position measurement of artillery or launchers relies on GNSS receivers, which cannot be used when satellite signals are unstable. Furthermore, the equipment is expensive, complex to operate, and requires multiple people to work together, making it impossible to draw the firing reference line directly on the ground.
Using a circumferential angle measuring device, a laser designator, and a tripod, combined with trigonometric functions and geodetic coordinate calculations, the device can calculate the geodetic coordinates of the gun position and determine the firing direction, and assist in drawing firing direction marking lines on the ground. The device includes a sight, a circumferential angle dial, a steering adjustment mechanism, a pitch adjustment mechanism, and a laser head.
It enables accurate measurement of gun position coordinates and firing direction under conditions without GNSS signal, reduces equipment costs, simplifies operation procedures, and allows a single person to complete the measurement and calibration, improving portability and efficiency.
Smart Images
Figure CN121899847A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of military range testing, and mainly relates to a device and apparatus for calculating the geodetic coordinates of a gun emplacement and determining the firing direction. Specifically, it is a device with circumferential angle measurement and laser pointing line functions, which uses trigonometric functions and coordinate transformation to calculate the geodetic coordinates of the gun emplacement, and can perform firing direction determination, assisting in drawing firing direction marking lines on the ground. Background Technology
[0002] Geodetic coordinate measurement and firing direction determination of the launch site are prerequisites for artillery firing and missile flight tests at the firing range. Currently, there are two main methods for measurement and determination. The first method is the pre-established reference point method. A reference point is established at the center of the firing position, and a fixed marker is erected in front of the position. The geodetic coordinates of the reference point and the marker have been accurately determined, generally in rectangular coordinates on the geodetic plane, such as Beijing 54 and WGS84 coordinates. During the test, the artillery or launcher generally needs to be placed on the reference point. If there is a deviation, a measuring tape is used to measure the deviation between the position of the artillery or launcher and the reference point, and the position is corrected. Then, in conjunction with direction-finding equipment such as a compass, panoramic mirror, and theodolite, the position and firing direction of the artillery or launcher are determined by aiming at the marker. This method is simple to calculate, but its disadvantage is that the position of the artillery or launcher needs to be around the reference point, and deviation affects the firing direction. It is suitable for short-range artillery firing tests, but it is not conducive to the placement of multiple artillery or launchers for simultaneous tests at the firing position. On the other hand, this method utilizes the geodetic plane coordinate system. Currently, with the application of BeiDou, experimental designs are gradually adopting the geodetic ellipsoidal coordinate system (National Geodetic Coordinate System 2000). This method cannot directly provide the corresponding geodetic coordinates and requires measurement using a GNSS receiver. The second method is a GNSS receiver combined with a theodolite. This also requires a fixed marker in front of the firing position. The GNSS receiver measures the coordinates of the artillery or launcher position, and the northward angle between the line connecting the artillery position and the marker is calculated using geodetic coordinates. The firing direction is then determined using a theodolite. This method can directly obtain geodetic coordinates using a GNSS receiver. However, its disadvantage is its dependence on the GNSS receiver; it cannot be used when satellite signal is poor, renewal fees are not timely, or service is unavailable. Furthermore, this method requires the use of both a GNSS receiver and a theodolite, necessitating the carrying of two equipment cases and two tripods. Currently, advanced total stations with built-in GNSS receivers have geodetic coordinate measurement and direction finding functions, making them suitable for the second method. However, advanced total stations are expensive, have service fees and annual fees, and cannot be used if the satellite signal is poor, renewals are not timely, or service issues arise. Furthermore, both of the above methods, using equipment such as steering wheels, panoramic mirrors, theodolites, and total stations, lack line-drawing capabilities. They cannot directly draw direction reference lines on the ground for artillery or launchers. At least three people are required to conduct geodetic coordinate measurement and direction calibration: one person aims at the direction, two others hold a reference rope, and the person aiming at the direction paints a line along the reference rope. Summary of the Invention
[0003] This invention addresses the calculation of geodetic coordinates of gun emplacements and the determination of firing directions at firing ranges. It proposes a device and method that includes circumferential angle measurement and laser marking line functions. The device uses trigonometric functions and geodetic coordinate calculations to obtain the geodetic coordinates of the gun emplacement and can perform firing direction determination, assisting in drawing firing direction marking lines on the ground. The invention is described in detail below: 1) The device of the present invention consists of four parts: a circumferential angle measuring device 1, a laser pointer, a tripod 4, and a calculation module, which are used in conjunction with the fixed target pole at the target range.
[0004] 2) The circumferential angle measuring device mainly consists of a scope, a circumferential angle dial, a steering adjustment mechanism, a pitch adjustment mechanism, and a horizontal adjustment mechanism. The scope is a monocular with a magnification sufficient to see a target 1 km away. A crosshair is located at the center of the field of view to assist in aligning the field of view with the target. The circumferential angle dial indicates the circumferential angle; the zero line of the dial is coplanar with and fixed to the center line of the scope's field of view. The steering adjustment mechanism adjusts the scope's steering, causing the reading pointer on the circumferential angle dial to point to the rotation angle, with an adjustment accuracy of 1 mil. The pitch adjustment mechanism, while ensuring the scope's pointing remains constant, adjusts the scope's pitch angle with an adjustment accuracy of 1 mil. This is used to correct whether the center of the scope's field of view and the line of sight projected by the laser head are on the same plane, and to measure the pitch angle. The horizontal adjustment mechanism includes adjustment functions in both the longitudinal and transverse directions of the horizontal plane. A bubble level is used to check if the circumferential angle measuring device is horizontal.
[0005] 3) The laser designator mainly consists of a laser head 2, a power supply 5, and a mounting bracket 3. The laser head 2 is used to project a line of light onto the ground, and the power supply provides power to the laser head. The mounting bracket is used to mount the laser head onto the circumferential angle measuring device, ensuring that the line of light projected by the laser head is in the same plane as the center of the field of view of the sight on the circumferential angle measuring device.
[0006] 4) Tripod 4 is used for mounting the circumferential angle measuring device. No plumb line is installed on the tripod, but a platform can be suspended below it.
[0007] 5) The algorithm for the solution module is combined with a fixed marker at the firing range. The geodetic coordinates of the marker have been calibrated and are known conditions. The basic principle of this algorithm is to use the angle between the line connecting the gun position and the marker as input parameters. The first step is to calculate the length of the line connecting the gun position and the marker, as well as the angle with north, using trigonometric functions. The second step is to calculate the geodetic latitude and longitude coordinates of the gun position using forward calculus. The third step is to calculate the difference between the top of the marker and the gun position by measuring the angle between the line connecting the gun position and the top of the marker and the horizontal plane, thus obtaining the elevation or altitude of the gun position.
[0008] Fixed markers at the firing range are typically placed in front of the gun position. Based on this, the algorithm is as follows.
[0009] There are three markers in front of the position, see Figure 1The gun position being measured is denoted by P, and the three markers in front of the position are marked by A, B, and C. Using the device of this invention, the angle between the line connecting the gun position and the markers is measured. , For the input parameters. First, given the known geodetic coordinates of markers A and C, the angle between them and the north direction can be calculated. Then, the length of the vector from the benchmark A to the gun position P is obtained through the following trigonometric function solution process. and the angle with north .
[0010]
[0011] In the above formula: , These are the distances from marker A to B and from marker B to C, respectively, in meters, and are known values. , These are the distances from marker A and marker B to gun position P, respectively, in meters; , The angle between the gun position P and the line connecting the markers A, B, and C, as measured using the device of this invention, is expressed in degrees. See [link / reference]. Figure 1 ; , The interior angle of the triangle formed by the lines connecting the benchmarks A, B, and C, in degrees, see [reference]. Figure 1 , is a known value; The angle between the vector from pole A to C and the north direction is in degrees, with north-east being positive, and is a known value. , Let the interior angle of the triangle formed by the lines connecting the target gun position P and the targets A and C be in degrees. Using the line connecting benchmarks A and C as a reference, with north-southeast as positive, see... Figure 1 ; The angle between the vector from the reference point A to the gun position P and the north direction is expressed in degrees, with north-east as positive.
[0012] The second step is to use forward geodetic coordinates to determine the geodetic latitude and longitude coordinates (B, L) of the gun position.
[0013] The third step is to measure and calculate the elevation or altitude H of the gun position. First, the distance R between the gun position and a specific marker is calculated using the rectangular coordinate system of the marker. Second, the elevation angle measurement function of the device of this invention is used to obtain the angle between the line connecting the gun position and the top of the marker and the horizontal plane. Third, use a measuring tape to measure the distance h from the trunnion of the sight's elevation rotation to the ground. Calculate the gun position's elevation or altitude using the following formula. The elevation or altitude is determined by the height type marked on the top of the target pole, and the top of the target pole must be higher than the gun position.
[0014]
[0015] In the above formula: H is the elevation or altitude of the gun position, in meters; The elevation or altitude marked on the top of the marker, in meters, is a known value. R is the distance from the gun position to the marker, in meters (m). The angle between the line connecting the gun position and the top of the marker and the horizontal plane, in degrees; h represents the distance from the trunnion of the scope's elevation rotation to the ground, measured in meters (m).
[0016] 6) To facilitate the use of this device, at least four fixed marker poles should be used at the site, three of which are for geodetic coordinate calculation. These poles should generally be at least 1 km away from the site. Figure 1 The layout shown forms a triangle with a longer side of at least 1 km, and allows for... and Greater than 5°. One pole is placed approximately 100m in front of the position, with its top height exceeding 3m above the position.
[0017] The beneficial effects of this invention are: 1) This invention provides a tool and method for measuring the coordinates of gun positions at a firing range, enabling the measurement of gun position coordinates and the calibration of firing direction without relying on GNSS receivers and satellite signals, thus avoiding the impact on equipment use caused by poor satellite signals, untimely renewal, or service problems.
[0018] 2) The main components of the device of the present invention include a circumferential angle measuring device similar to a theodolite, a laser pointer, and a tripod, which are used in conjunction with a benchmark. Compared with the cost of purchasing equipment and service renewal fees required for using GNSS receivers, total stations, etc.
[0019] 3) This invention integrates geodetic coordinate calculation, direction calibration, and laser indicator line functions, which can be operated and completed by one person. This simplifies equipment deployment, installation, and operation, and improves the portability of the equipment. Attached Figure Description
[0020] Figure 1 A schematic diagram of the gun emplacement and target layout in this algorithm; Figure 2 A diagram of the device of the present invention. Detailed Implementation
[0021] The invention will be further described below with reference to a target range artillery position geodetic coordinate calculation and firing direction calibration device used in a certain test, in conjunction with the accompanying drawings. Due to the confidentiality of the target range location, the position coordinates have been offset overall, and the geodetic coordinate calculation process is performed in the 2000 National Geodetic Coordinate System. The invention includes, but is not limited to, the following embodiments.
[0022] 1) The circumferential angle measuring device and tripod use a Type 58 steering wheel, which has circumferential and pitch angle measuring functions, an 8x magnification, an angle measuring error of 1 mil, and rotation and knob adjustment functions, making it easy to operate. It is also compact and portable. A plumb line can be suspended from below the tripod to indicate the ground position.
[0023] 2) Set up the Type 58 steering wheel, with the tripod providing stable support. Place the plumb line at the test point on the ground, level the bubble on the Type 58 steering wheel, and install the laser indicator above the Type 58 steering wheel.
[0024] 3) The laser designator consists of a linear laser head, a power supply, and a mounting bracket. The linear laser head, with a power of 300MW, can illuminate the ground at a height of 1.5m to form a guide line exceeding 20m. It is powered by a 20000mAh portable power bank. The mounting bracket uses bolts and clamps to secure the linear laser head. The angle of the linear illumination is adjusted by rotating the laser head within the clamps. The clamps have a bolt-locking ball joint connection structure, allowing for three-degree-of-freedom adjustment in circumference and pitch. A conformal base for the top of a Type 58 steering wheel is fixed to the bottom of the mounting bracket for connection between the mounting bracket and the Type 58 steering wheel. After connection, adjust the scope so that the center crosshair of the field of view is aimed at the ground. Then, adjust the linear laser head via the mounting bracket so that the linear laser line on the ground always coincides with the vertical line of the crosshair when the laser head is tilted. Finally, level the scope, keeping the linear laser head illuminating the guide line on the ground, lock the laser head, and turn off the power.
[0025] 4) Three markers (A, B, and C) for geodetic coordinate calculation are set up in front of the position, each at least 1 km away from the position. Their coordinates are: A (85.49991846°, 39.61149070°), B (85.49882412°, 39.61722660°), and C (85.50418854°, 39.62201993°). The three markers form a triangle. It is 643.737m. It is 703.845m. It is 25.806°. The angle is 23.463°, and the angle between side AC and the north direction is... It is 17.412°.
[0026] 5) Set up a marker D (85.51110327°, 39.61364171°, elevation 1500m) in front of the position for elevation measurement.
[0027] 6) Horizontally adjust the Type 58 azimuth wheel sight and measure the angle between the gun position P and the line connecting the markers A, B, and C. It is 32.48° (541 mil). It is 35.49° (592 mil).
[0028] 7) Adjust the elevation of the Type 58 azimuth sight and measure the angle between the line connecting the top of the gun position P and the top of the target D and the horizontal plane. It is 1.38° (23mil).
[0029] 8) Using a measuring tape, the distance h from the trunnion of the scope's pitch rotation to the ground is measured to be 1.36m.
[0030] 9) The algorithm in this invention combines forward and inverse geodetic coordinate solutions and is encapsulated in a mobile app, which includes default parameters for benchmarks A, B, C, and D. The measured parameters are input into the mobile app. , , And the h value, the vector from the benchmark A to the gun position P is calculated. The length is 1086.03m. 56.792° The angle is 74.204°. The coordinates (B, L, H) of the gun position P are (85.512088°, 39.614153°, elevation 1397m). The distance between these coordinates and the coordinates (85.51208496°, 39.61415208°, elevation 1397.4m) measured by the GNSS receiver is 0.28m and the elevation is 0.6m.
[0031] 10) Before the firing direction is determined, the northward angle between the gun position P and the geodetic line of the target point is obtained by inverse geodetic coordinate solution, and the aiming direction rotation angle is calculated with the reference pole A as the reference.
[0032] 11) Point the sight in the firing direction, turn on the laser designator, and adjust the laser designator's elevation angle to project a straight laser line onto the ground. Mark the point on the ground that the plumb line points to, and draw a ground firing direction reference line along the laser designator line.
Claims
1. A method for calculating the geodetic coordinates of a firing range and determining its firing direction, characterized by: After measuring the angle between the gun position and the line connecting the three markers using the circumferential angle measurement function, the geodetic coordinates of the gun position are calculated using trigonometric functions and geodetic coordinates. Then, after finding the firing direction using the circumferential angle measurement function, the firing direction line is marked on the ground using a laser designator that is perpendicular and coplanar with the line of sight of the circumferential angle measurement module, thus completing the calculation of the geodetic coordinates of the gun position at the target range and the calibration of the firing direction.
2. The method for calculating the geodetic coordinates of a firing range and determining the firing direction according to claim 1, characterized in that: When calculating the geodetic coordinates of the gun position, the geodetic coordinates of the markers have already been calibrated and are known conditions. The angle between the gun position and the line connecting the three markers is measured as the input parameter. The first step is to calculate the length of the line connecting the gun position and the markers and the angle with the north direction using trigonometric functions. The second step is to calculate the geodetic latitude and longitude coordinates of the gun position using forward geodetic coordinates. The third step is to calculate the difference between the height of the marker top and the height of the gun position by measuring the angle between the line connecting the gun position and the top of the fourth marker and the horizontal plane, and obtain the elevation or altitude of the gun position.
3. The method for calculating the geodetic coordinates of a firing range and determining the firing direction according to claim 2, characterized in that: The specific methods for measuring and calculating the elevation or altitude H of the gun position are as follows: First, calculate the distance R between the gun position and a certain benchmark using the coordinates under the rectangular coordinate system of the benchmark; second, obtain the angle between the line connecting the gun position and the top of the benchmark and the horizontal plane using the elevation angle measurement function of the device of this invention. Third, use a measuring tape to measure the distance h from the trunnion of the sight to the ground, and calculate the elevation or altitude of the gun position using the following formula. The elevation or altitude is determined by the height type marked on the top of the target pole, and the top of the target pole is higher than the gun position. In the above formula: H is the elevation or altitude of the gun position, in meters; The elevation or altitude marked on the top of the marker, in meters, is a known value. R is the distance from the gun position to the marker, in meters (m). The angle between the line connecting the gun position and the top of the marker and the horizontal plane, in degrees; h represents the distance from the trunnion of the scope's elevation rotation to the ground, measured in meters (m).
4. The method for calculating the geodetic coordinates of a firing range and determining the firing direction according to claim 2, characterized in that: The three benchmarks used for geodetic coordinate calculation are generally no less than 1 km away from the training position, and the longer side of the triangle they form is no less than 1 km. The two included angles formed by the lines connecting the three benchmarks to the running position are... and Greater than 5°.
5. The method for calculating the geodetic coordinates of a firing range and determining the firing direction according to claim 2, characterized in that: The fourth marker used to calculate the elevation or altitude of the gun position is set up 100m in front of the position, with its top height more than 3m above the position.
6. A device for calculating the geodetic coordinates of a firing range and determining the firing direction, characterized in that: The device includes a circumferential angle measuring device, a laser designator, a power supply, a tripod, and a calculation module. It is used in conjunction with a fixed target at a firing range. The circumferential angle measuring device is mounted on the tripod, and a mounting bracket is used to mount the laser head on the circumferential angle measuring device to ensure that the line of light emitted by the laser head is in the same plane as the center of the field of view of the sight on the circumferential angle measuring device. The power supply provides power to the laser head designator. The algorithm module is used for calculation of the method described in any one of claims 1-5.
7. The target range gun position geodetic coordinate calculation and firing direction calibration device according to claim 6, characterized in that: The circumferential angle measuring device includes a sight, a circumferential angle dial, a steering adjustment mechanism, a pitch adjustment mechanism, and a horizontal adjustment mechanism. The sight is a monocular with a magnification sufficient to see a target 1 km away. A crosshair is located at the center of the field of view to assist in aligning the field of view with the target. The circumferential angle dial indicates the circumferential angle, and its zero line is coplanar with and fixed to the center line of the sight's field of view. The steering adjustment mechanism adjusts the sight's steering, causing the reading pointer on the circumferential angle dial to point to the rotation angle, with an adjustment accuracy of 1 mil. The pitch adjustment mechanism, while ensuring the sight's direction remains unchanged, adjusts the sight's pitch angle with an adjustment accuracy of 1 mil. This is used to correct whether the center of the sight's field of view and the line of light emitted by the laser head are in the same plane, and to measure the pitch angle. The horizontal adjustment mechanism includes adjustment functions in both the longitudinal and transverse directions of the horizontal plane. A bubble level is used to observe whether the circumferential angle measuring device is horizontal.
8. The target range gun position geodetic coordinate calculation and firing direction calibration device according to claim 7, characterized in that: The circumferential angle measuring device adopts a Type 58 steering wheel.
9. A target range gun position geodetic coordinate calculation and firing direction calibration device according to claim 6, characterized in that: The laser pointer consists of a linear laser head, a power supply, and a mounting bracket, and is powered by a portable power source.
10. A target range gun position geodetic coordinate calculation and firing direction calibration device according to claim 6, characterized in that: The algorithm of the solution module is combined with the forward and inverse solutions of geodetic coordinates and encapsulated in a mobile APP. By inputting relevant measurement values, the geodetic coordinates of the gun position at the target range and the firing direction are calculated.