1231 results about "Theodolite" patented technology

The invention discloses a camera on-field calibration method in a measuring system, belonging to the field of computer vision detection, in particular to an on-field calibration method for solving inside and outside parameters of cameras in a large forgeable piece size measuring system. Two cameras and one projector are provided in the measuring system. The calibration method comprises the following steps of: manufacturing inside and outside parameter calibration targets of the cameras; projecting inside parameter targets and shooting images; extracting image characteristic points of the images through an image processing algorithm in Matlab; writing out an equation to solve the inside parameters of the cameras; processing the images shot simultaneously by the left camera and the right camera; and measuring the actual distance of the circle center of the target by using a left theodolite and a right theodolite, solving a scale factor and further solving the actual outside parameters. The invention has stronger on-field adaptability, overcomes the influence of impermeable and illegible images caused by the condition that a filter plate filters infrared light in a large forgeable piece binocular vision measuring system by adopting the projector to project the targets, and is suitable for occasions with large scene and complex background.

The present invention is in-situ visual measurement system calibrating equipment and process. The calibrating equipment is 3D coordinate measuring system and stereo target, and the stereo target set inside the work range of the 3D coordinate measuring system consists of base plate as well as sensor calibrating target and system measured target, which are standard balls, set on two sides of the base plate. The 3D coordinate measuring system may be an industrial theodolite measurement system or a laser tracking instrument. The calibrating process includes calibrating the stereo target in the coordinate measuring system, acquiring the image of the sensor calibrating target, obtaining the conversion relation between the system measured target and the sensor calibrating target via coordination conversion, and other steps. The present invention can realize the in-situ measurement element calibration and overall system calibration.

The invention relates to a mixed measurement analysis method for a satellite antenna. The method effectively solves the problems that various measurement devices are used for co-measurement to reduce detection difficulty and improve detection efficiency during a measurement process of the satellite antenna. The method comprises the steps: cubic mirror collimating measurement is carried out by electronic theodolites during antenna installation and detection processes, scanning measurement of an antenna shaped surface is carried out by a laser radar, a space point position is measured by a laser tracker, and thus the measurement of the satellite antenna is jointly completed by the various measurement devices; union calibration algorithm of 'six freedom degree measurement station three-dimensional network' is employed, a conversion relationship between measurement station coordinates and measurement coordinates is utilized, various observed value error equations are directly listed, so as to overcome shortcomings of a traditional algorithm and improve adaptability of the algorithm. The method provided by the invention is simple, is easy to operate, enables an initial value to be fast acquired, has low requirements for precise degree of the initial value, has a few iteration times, is quick in convergence speed, theoretically is an optimal solution, and has strong algorithm adaptability, high measuring efficiency, fast speed and high precision.

The invention relates to a method for calibrating a star sensor, which can effectively solve the problems of low calibrating speed, low efficiency and high hardware requirements of the star sensor. The method comprises the following steps of: calibrating internal parameters of the star sensor to obtain a coordinate of a mark point in a coordinate system of a photogrammetric system; carrying out image processing on a picture and calculating internal parameters of cameras; establishing a transit surveying coordinate system; carrying out measurement on a manual surveying mark of a calibrating field by using a transit surveying system to obtain a three-dimensional coordinate of the manual surveying mark in the coordinate system of the transit surveying system; carrying out common point conversion by utilizing a three-dimensional coordinate value to obtain a conversion relation of the coordinate system of the calibrating field and the coordinate system of the transit surveying system and converting the coordinate system of the transit surveying system and a cubic prism coordinate system into the coordinate system of the calibrating field; and taking a picture of the calibrating field again to obtain a relation of the two cameras and the cubic prism coordinate system. The method for calibrating the star sensor of the invention has the advantages of simple calibrating process, low required precision for the hardware, high calibrating precision and high speed, greatly improves the working efficiency and is an innovation on the calibration of the star sensor.

The invention provides a calibration method of inertial unit optical aiming prism installation errors. The calibration method is characterized in that prism lines of the inertial unit optical aiming prism rotate for several positions; a self calibration theodolite and an inertial unit optical aiming prism collimator which are fixed in the one position is used in each position. The relative posture of the inertial unit is provided through inertial navigation solution; the relative posture of the theodolite collimation axis can be obtained through reading and calculation via a dial. According to the initial conditions of the self calibration theodolite and the inertial unit optical aiming prism collimator in each position, a multivariate overdetermined equation including inertial unit optical aiming prism installing error Z0 (deflection quantity) and Y0 (inclination quantity) is built; the installing errors Y0 and Z0 of the inertial unit optical aiming prism can be obtained through solving the multivariate overdetermined equation. The posture in the inertial unit rotationprocess is given through inertial navigation solution; the rotation process can be manually completed on an ordinary platform; the requirements on test equipment is low; the realization is easy; the calibration parameters are comprehensive; high universality is realized.

The invention discloses a satellite orientation based azimuth calibration method and device. According to the method, true north azimuths of two satellite antenna represented base lines are calibrated according to a high-precision relative positioning principle based on carrier phase ambiguity-resolving; the azimuths of the base lines are derived with angle measuring instruments such as a theodolite or a total station; the true north information of each azimuth to be measured is measured. According to the satellite orientation based azimuth calibration method and device, high-precision satellite orientation is used as an azimuth reference, and the theodolite is used to derive the true north azimuth of the azimuth reference for azimuth calibration. The satellite orientation based azimuth calibration method and device has the advantages that the ways of using traditional fixing marker post and the like are replaced by the use of a movably erectable GNSS (global navigation satellite system) antenna, no satellite differential station is required, azimuth calibration flexibility is greatly improved, and the azimuth calibration range is greatly widened.

The invention relates to a method for calibrating the direction of a three-probe start sensor, which can effectively solve the problem of requirements on the calibrating accuracy and measuring accuracy of the direction of the three-probe start sensor. The technical scheme for solving the problem comprises the following steps of: combining three cubic prisms pairwise; linking four theodolites; aligning the every two combined cubic prisms by using the four theodolites respectively and recording data; performing mutual aiming; recording mutual aiming data; and resolving a rotation matrix between two reference cubic prisms. The method is easy and convenient to operate, has high calibration speed and high accuracy, does not need to focus for measuring and can effectively solve the problem of requirements on the calibrating accuracy and measuring accuracy of the direction of the three-probe start sensor.

The invention discloses an automatic accurate measurement method for a satellite large-size planar array SAR antenna. The method comprises the steps that target points on the antenna array surface are measured through a laser radar measuring system, and the least square fit is utilized for calculating the array surface planeness and the plane normal direction; a transit measuring system is utilized for measuring a satellite benchmark mirror and a public target ball point so as to build the relation between the public target ball point and a satellite mechanical coordinate system; laser radar is utilized for measuring the public target ball point so as to build the relation between the satellite mechanical coordinate system and a laser radar measuring coordinate system, and finally the antenna array surface normal direction under the satellite coordinate system is obtained; in multiple antenna unfolding tests, the radar single-point automatic measurement function is utilized, plane measurement conducted after unfolding is automatically completed, and unfolding planeness and pointing repeatability are evaluated. According to the automatic accurate measurement method for the satellite large-size planar array SAR antenna, the planeness and pointing accuracy of the antenna can be automatically measured with high precision, the requirement for precision of plane point coordinate precision being 0.2 mm and angle measurement precision being 20'' within 30 m is met, and measurement efficiency is greatly improved.

The invention discloses an automatic leveling and gyroscopic orientation sighting device. The automatic leveling and gyroscopic orientation sighting device comprises a gyroscopic north-seeking part, a theodolite part and a tripod used for supporting, wherein the gyroscopic north-seeking part is connected with the theodolite part to form a whole body through a supporting disk, and installed on the upper surface of the supporting disk, the upper end of a vertical shaft of the theodolite part is installed on the lower surface of the supporting disk, the upper end of the tripod is provided with a leveling base, three linear motors are arranged on the leveling base, the upper ends of output shafts of the linear motors are connected with a universal adjusting column, an adjusting platform is installed on the universal adjusting column, an electronic level meter is embedded in the adjusting platform, the output of the electronic level meter is connected with the linear motors through control circuits, and a theodolite base is installed on a table board of the adjusting platform. The automatic leveling and gyroscopic orientation sighting device is small in size, light in weight, convenient to carry, simple in mechanical structure and convenient to maintain. The automatic leveling and gyroscopic orientation sighting device can be used for realizing automatic leveling, the consumed leveling time is short, the actual north-seeking time is shortened, the leveling precision is high, and north-seeking results are accurate.

The present invention belongs to the technical field of optoelectronic equipment calibration, and particularly relates to a star sensor reference cube-prism installation error calibration apparatus. According to the present invention, a photoelectric autocollimator and a single star simulator are respectively placed on two orthogonal axes of a reference plane, a detected star senor is placed at the intersection point position of the two axes so as to make the normal lines of the two orthogonal light reflection surfaces of the detected star senor reference prism be respectively parallel to the two orthogonal axes, the optical axes of the photoelectric autocollimator and the single star simulator are respectively adjusted to parallel to the reference plane through a theodolite, the star sensor is installed on a star sensor three-dimensional adjustment reference base, the input optical axis of the star sensor and the output optical axis of the single star simulator are adjusted to achieve a parallel state through the star sensor three-dimensional adjustment reference base, a detected reference cube-prism is arranged on the upper surface of the housing of the detected star senor, the installation angle error of the reference cube-prism round the X-axis and the Y-axis is measured by using photoelectric autocollimation, the star sensor three-dimensional adjustment reference base rotates 90 DEG, and the installation angle error of the reference cube-prism round the Z-axis is measured.

The invention discloses an adjustment method for reflectors of a periscopic type acquisition and tracking mechanism. According to the method, three theodolites are used for building coordinate systems to adjust the reflectors of the periscopic type acquisition and tracking mechanism, one theodolite serves as a datum optical axis through an installation datum plane, the datum is transmitted to the other two theodolites according to a geometrical optical principle to build one coordinate system so as to monitor the position of an orientation reflector in real time, then the position of the orientation reflector is adjusted well, the orientation reflector is locked and fixed, the position of a pitching reflector is monitored by rebuilding one coordinate system of another theodolite, the depth of parallelism of received light beams and emitted light beams of the periscopic type acquisition and tracking mechanism is greater than one thousandth according to the technical index requirement, and light tangency is avoided.

The invention discloses an unmanned aerial vehicle patrolling line corridor method and device based on a millimeter-wave radar. The device comprises a patrolling unmanned helicopter, wherein an airborne millimeter-wave radar device and a high-definition camera detection device are arranged on the unmanned helicopter; the airborne millimeter-wave radar device comprises an airborne antenna, and a millimeter-wave transmitting/receiving module, an analog/digital conversion unit, a clutter processor, a signal accumulator, a fast Fourier transform (FFT) module and a signal processing unit which are connected with one another in sequence; and an input end of the signal processing unit is connected with an airborne flight control system. The invention also discloses an unmanned aerial vehicle patrolling line corridor method which is based on the millimeter-wave radar and is implemented by using the device. By the device and the method, as a monitoring means, whether the line operation environment is in danger and has hidden troubles for line safe operation is known and mastered in time, and a basis is provided for effectively making decisions; and the conventional method manually using an altazimuth for measurement is avoided, so that the working efficiency is improved, and the device and the method have great practical significance for the safety of electric transmission lines and unmanned aerial vehicle patrolling.

Disclosed is an initial assembly positioning method for four off-axis lenses. The four off-axis lenses include the main mirror, the secondary mirror, the third mirror and the plane mirror, wherein the main mirror and the third mirror are off-axis aspheric mirrors. A zero compensator is utilized for calibrating the direction of the optical axes of the off-axis mirrors. The reference is provided for adjusting the space positions of the mirrors through four-rod positioning. Initial assembly positioning of the mirror assembly is achieved through multi-theodolite networking. According to the initial assembly positioning method for the four off-axis lenses, by the combination of the optical axis introduction and four-rod positioning technology, the certain precision of the initial assembly of the four off-axis lenses is achieved, and a reasonable initial point is built for optical system computer-assisted adjustment.

The invention discloses a technology for measuring the camera cooperation theodolite double image estimate survey, which uses the measurement camera, the electronical theodolite as the tool, wherein the inner orientation element is unknown and the outer orientation element is known to realize to measure the height of the stumpage by measuring the camera cooperation theodolite double image estimate surve. First, the axiallateral method of the space front is used to obtain the coordinate of the control point, then, the measurement camera is adopted to obtain the two imaged in the area to be measured, and the homologous image point of the two images are used to list the error equation, thereby resolving the outer orientation element of the two images, finally the light beam method is used to process the error compensation. The measurement method can simply and fast measure the tree height of the stumpage, overcomes the defect in the traditional technology.

The invention provides an adjusting and correcting method of a light path of a photoelectric system tracking-pointing precision measuring device. The measuring device is mainly composed of an opticalplatform, a laser light source, ground glass, a small-hole diaphragm, a beam splitter, a parallel light pipe collimating mirror, a high-frame-frequency CCD camera and the like, wherein the laser lightsource, the ground glass, the small-hole diaphragm, the beam splitter, the parallel light pipe collimating mirror, the high-frame-frequency CCD camera and the like are installed on the optical platform. By the adoption of a plane mirror, an optical autocollimation, a pentaprism and a theodolite, the positions of the laser light source, the small hole diaphragm and the high-frame-frequency CCD camera of the photoelectric system tracking-pointing precision measuring device are adjusted and corrected, the adjusting and correcting method has the advantages of being high in precision, easy to operate, convenient and visual, the problem of adjusting and correcting the light path of the photoelectric system tracking-pointing precision measuring device is solved, and not only is technological guarantee provided for the development of a space laser communication tracking-pointing technology, but also a reference basis is provided for designing a space laser communication system tracking-pointing precision measuring device.

The invention discloses a method for adjusting the parallelism of an axis of a reflector and a mechanical rotating shaft of a Dove prism. The method comprises the following steps of adjusting an emitter theodolite to be parallel with the mechanical rotating shaft of a Dove prism component; adjusting a receiver theodolite to be in the same optical axis as the emitter theodolite; and adjusting eight screws for fixing the Dove prism on the Dove prism component to make the axis of the reflector of the Dove prism parallel with the mechanical rotating shaft of the Dove prism. The method has the characteristic that debugging instruments are simple in structures, simple and convenient to erect and adjust, and high in operability, a large amount of time for assembling a product is saved, the work efficiency of an operator is improved, and the method can be widely applied to adjusting the parallelism of the optical axis of the reflector and the mechanical rotating shaft of the Dove prism.

The invention relates to a photoelectric stabilized platform assembly zero calibration method comprising the steps that: an airplane assembled with a photoelectric stabilized platform is leveled; a horizontal position of a target is measured and adjusted according to a first theodolite, such that a target surface perpendicular l1 is on a same straight line with airplane plumb lines AA1 and BB1; according to the measurement of a second theodolite, the height of the second theodolite is adjusted, such that the theodolite levelly aims at an assembly reference plane of the photoelectric stabilized platform; the tilt position of the second theodolite is not changed, and the azimuth is rotated, such that the theodolite is aligned with the target surface; horizontal height of the target is adjusted, such that the theodolite is aligned with a reference line L on the target surface; the sum of average values of azimuth angle alpha and tilt angle beta is calculated; and the azimuth angle and tilt angle of the photoelectric stabilized platform are corrected into 0, such that calibration is finished. With the photoelectric stabilized platform assembly zero calibration method, photoelectric stabilized platform assembly zero can be measured and calibrated accurately and reliably. The method is suitable for calibrations of photoelectric stabilized platform and airplane zero assembly error.

The invention discloses a method for mounting a base of a container, and belongs to the technical field of ships. The method comprises the following steps: scribing and mounting the base of the container; scribing a center line of the ship on a bottom plate in a cargo hold and scribing a longitudinal center line of the base of the container at the head end and the tail end of the cargo hold by a laser theodolite; inspecting by positioning waterlines on transverse bulkheads at two ends of the cargo hold, forming a reference plane by correction, and moving the plane onto a pre-set mark post for facilitating the contraction of the base of the container; measuring the distance from the upper surface of the base of each container to the reference plane; deciding the height from the plane of the each base to the reference plane; mounting the base of the container, preliminarily performing spot welding and positioning according to an arrangement diagram of the base of the container, and welding after the center line of the base and the height value are correctly positioned and the inspection is qualified; and applying a small-diameter welding rod during welding, and performing symmetrical skip welding by one person. The base mounted through the method is high in mounting precision, the container placed on the base can avoid rocking basically, and the safety performance is enhanced.

The invention relates to a system and method for achieving accurate positioning of an off-axis aspheric surface reflector. The system comprises an auto-collimation theodolite, a curvature radius center positioning tool for determining the center position of a curvature radius of an aspheric surface reflector to be positioned, a peak center positioning tool for determining the center position of the peak of the aspheric surface reflector to be positioned, a large diameter plane reflector, an internal focusing telescope and sheet glass attached to the back face of the aspheric surface reflector to be positioned. The auto-collimation theodolite, the curvature radius center positioning tool, the peak center positioning tool, the large diameter plane reflector and the internal focusing telescope are arranged on the same optical axis in sequence. The system and method for achieving accurate positioning of the off-axis aspheric surface reflector is high in positioning accuracy, easy to adjust and convenient to use.

A method for detecting optical alignment prism mounting accuracy deviation calibration of a platform system includes a non-levelness calibration method of an alignment prism and a non-perpendicularity calibration method of the alignment prism, optical alignment prism mounting accuracy deviation calibration of the platform system can be detected by the aid of a regular hexahedron, an autocollimator and two theodolites, and the technological gap of the method is filled. A large swinging angle of a detected object is allowed, namely, a large elevation difference exists, a ground horizontal plane serves as a reference, the reference does not need to be converted through a standard hexahedron, the detecting accuracy of optical alignment prism mounting accuracy deviation calibration is improved, and the method is simple to operate, high in efficiency and detecting accuracy and easy to implement.