CN114967022B - Optical calibration method of autocollimating dynamic target based on double theodolite - Google Patents

Abstract

An auto-collimation dynamic target optical calibration method based on double theodolites belongs to the technical field of optical detection and calibration, and particularly relates to an auto-collimation dynamic target structure and a calibration scheme. The invention solves the problem of high difficulty in assembling and calibrating the existing auto-collimation dynamic target. The invention adopts a double theodolite to realize the installation and correction process, firstly adopts a rotary optical axis and a test reference radiation mirror to determine the main and initial positions and the postures of the first theodolite, then the first theodolite carries out installation and correction on the first light guide mirror, then adjusts the relative postures of a sub-optical path and the rotary optical axis, finally carries out installation and correction on the postures of the second light guide mirror, and completes the installation and correction process of the sub-optical path and the light guide mirror. The invention realizes the quick assembly and correction of the coaxiality of the dynamic target sub-optical path and the optical axis of the guide lens, improves the assembly and correction efficiency aiming at the dynamic target, and reduces the technical requirements on operators. The invention is suitable for the technical field of manufacturing and debugging of auto-collimation dynamic targets.

Description

Optical calibration method of autocollimating dynamic target based on double theodolite

technical field

The invention belongs to the technical field of optical detection and installation and calibration, and in particular relates to an autocollimation dynamic target sub-optical path and a guide mirror installation and calibration method based on double theodolites.

Background technique

Dynamic targets are often used in tracking performance tests of various tracking systems. The traditional dynamic target simulates the moving target at infinity, makes the tracking system under test track the target, and then completes the detection of the tracking performance and system parameters of the tracking system under test with the help of other measuring instruments, and the detection process is cumbersome. Different from the traditional dynamic target, the self-collimating dynamic target can not only simulate the moving target at infinity, but also receive the beam emitted by the tracking system under test, so as to realize the direct measurement of the tracking accuracy of the system under test.

Since the self-collimating dynamic target includes structures such as receiving unit, transmitting unit and rocker arm at the same time, the difficulty of system installation and calibration is greatly increased. The existing calibration method only uses the collimator for calibration, and it is extremely inconvenient to move the collimator during calibration of different components. Therefore, how to complete the calibration of the sub-optical path of the autocollimation dynamic target, the optical antenna and the consistency of the optical axis of the rotating guide mirror is a difficult problem to solve. At present, there is an urgent need for a method that can satisfy the calibration of the optical path of the autocollimation dynamic target.

To sum up the above factors, since the existing self-collimating dynamic target includes structures such as receiving unit, transmitting unit and rocker arm at the same time, it is very difficult to install and calibrate the system.

Contents of the invention

The invention solves the problem that the existing self-collimating dynamic target is difficult to install and calibrate. The present invention adopts double theodolite, firstly adjusts the first guide mirror, and then adjusts the second guide mirror according to the first guide mirror.

The self-collimating dynamic target optical calibration method based on the double theodolite of the present invention is to adopt the double theodolite to realize the coaxial calibration of the light guide mirror and the sub-optical path of the self-collimating dynamic target, and the calibration method includes:

Step 1. Fix the rotating optical axis 15 through the self-collimating dynamic target installation tool 26, and use the first theodolite 17 in combination with the test reference mirror 16 to complete the alignment of the optical axis consistency between the reference mirror 16 and the rotating optical axis 15. At this time The posture of the first theodolite 17 is A;

Step 2, adjust the first theodolite 17 to rotate 45 °, become attitude C; adjust and determine the position and initial attitude B of the second theodolite 20;

Step 3, install the first light guide mirror 21, adjust the posture of the first light guide mirror 21 through the second theodolite, and calibrate the angle between the first light guide mirror 21 and the rotating optical axis 15, and complete the described The installation of the first light guide mirror 21; the attitude of the second theodolite is D now;

Step 4, remove the first guide mirror 21 and the test reference mirror 16;

Step five, install the sub-optical path 13 and the cassette antenna 14 as a whole on the left end of the rotating optical axis 15, adjust the posture of the first theodolite 17 to return to posture A, and calibrate the sub-optical path 13 and the cassette antenna 14 through the first theodolite 17 attitude, complete the installation of the sub-optical path 13 and the card antenna 14;

Step 6, remove the reference mirror 2; install the first guide mirror 21 to the original position, and fix it by installing the positioning pin;

Step 7: Install the second light guide mirror 19 , adjust the posture of the second light guide mirror 19 through the first theodolite 17 and the second theodolite 20 , and complete the installation and calibration of the second light guide mirror 19 .

Further, the specific method of the step 1 is exemplified as follows:

Fix the rotating optical axis 15 on the autocollimating dynamic target installation and calibration tooling 26;

Fix the test reference mirror 16 on the boss 25 of the fixed reference mirror provided inside the rotating optical axis 15;

Place the first theodolite 17 on the right side of the rotating optical axis 15, and keep it as a horizontal posture, then adjust its position and posture so that the light beam emitted by the first theodolite 17 is incident again after being reflected by the reference reflector 16 To form an imaging cross spot in the first theodolite 17;

Control the rotating optical axis 15 to rotate until the imaging cross spot in the first theodolite 17 moves to the center position of its crosshair, and complete the alignment of the optical axis of the reference mirror 16 and the rotating optical axis 15; mark the first The attitude of the theodolite 17 is A, and the azimuth and elevation values of the attitude A are recorded.

Further, the specific method of the step 2 is illustrated as follows:

The first theodolite 17 azimuth is rotated 45 °, becomes attitude C, the second theodolite 20 is adjusted it is in horizontal attitude, by adjusting the position, the attitude of the second theodolite 20, the light that the first theodolite 17 is emitted enters the second theodolite In the second theodolite 20, an imaging cross spot is formed, and the imaging cross spot is moved to the crosshair center position of the second theodolite 20. At this moment, the attitude of the second theodolite 20 is the initial attitude B, and the orientation under the attitude is recorded. and pitch values.

Further, the specific method of the step 3 is exemplified as follows:

Adjust the azimuth rotation of the second theodolite 20 for 45° so that it points to the installation position of the first guide mirror 21;

Install the first guide mirror 21 at the installation position;

Control the second theodolite 20 to emit light beams, so that the light beams reflected by the first guide mirror 21 enter the second theodolite 20 to form an imaging cross spot, adjust the attitude of the first guide mirror 21 until the cross spot moves To the center position of the central cross line of the second theodolite 20 , the calibration of the angle between the first guiding mirror 21 and the rotating optical axis 15 is completed; at this time, the attitude D of the first guiding mirror 21 .

Further, the specific method of the step five is exemplified as:

The sub-optical path 13 and the card antenna 14 are integrally installed on the left end of the rotating optical axis 15;

The attitude of the first theodolite 17 is adjusted to attitude A, and then the light beam is sent, and the light beam is reflected by the reference reflector 2 on the card antenna 14, and the imaging cross spot is formed in the first theodolite 17;

By adjusting the overall posture of the sub-optical path 13 and the card antenna 14 until the imaging cross spot moves to the center position of the crosshairs of the first theodolite 17, the optical axis of the sub-optical path and the optical axis of the rotation axis are aligned, and the sub-optical path is completed. 13 outfits.

Further, the specific method of the step 7 is exemplified as:

Take off the reference reflector 2, and install the second guide mirror 19 at the installation position of the first guide mirror of the rocker arm 18;

Turn the first theodolite 17 into attitude F by 60 degrees;

Adjust the posture of the second theodolite 20, so that the imaging cross spot that the second theodolite 20 receives is located at the crosshair center position of the second theodolite 20, at this moment, the position and the posture of the second theodolite 20 are E;

Rotate the angle of the second theodolite 20 by 120° to become attitude H, so that the light beam it emits is aimed at the second guide mirror 19;

The sub-optical path 13 emits light beams, and the light beams are reflected by the first guide mirror 21 and then sent to the second guide mirror 19, and then incident on the second theodolite 20 after being reflected by the second guide mirror 19, in the second theodolite 20 Form an imaging cross spot;

Adjust the posture of the second guide mirror 19 so that the imaging cross spot moves to the center position of the crosshairs in the second theodolite 20, fix the second guide mirror 19 by positioning pins, and complete the installation and calibration of the second guide mirror 19 .

Further, the sub-optical circuit 13 and the card antenna 14 are fixed together to form a whole, and the whole method includes:

The self-collimating dynamic target sub-optical path 13 and the card antenna 14 are integrally installed on the sub-optical path calibration tool 1, and the calibration tool 1 is fixed on the horizontal optical platform 4;

Install the reference reflector 2 at the position reserved for the 14th secondary mirror of the card-type optical antenna;

Control the collimator 3 to emit light beams to enter the reference mirror 2, and reflect back to the collimator 3 through the reference mirror 2, and then the collimator 3 is incident into the collimator camera 24 to form an imaging spot;

Adjust the posture of the sub-optical path installation and calibration tooling 1 so that the imaging spot is located at the center of the field of view of the collimator camera 24, and complete the optical axis calibration of the cassette antenna 14 and the collimator 3;

The internal structure of the sub-optical path 13 is adjusted.

The invention solves the problem that the existing self-collimating dynamic target is difficult to install and calibrate. Specific beneficial effects include:

1. The present invention uses double theodolites to realize the coaxial alignment of the guide mirror and the sub-optical paths. Compared with the prior art, it does not need to continuously move the collimator to ensure the consistency of the optical axis. Double theodolites are used in the present invention Cooperate with each other to ensure the installation and calibration of the consistency of the optical axes of the two, which improves the efficiency of installation and calibration.

2. Operate according to the double theodolite installation and calibration method of the self-collimating dynamic target proposed by the present invention, only need double theodolite to calibrate, and the rotation angle of one of the theodolites has been determined, which greatly reduces the technical requirements for the operator and improves the At the same time, it effectively avoids the impact on the efficiency and accuracy of the installation and calibration due to the unskilled professional skills of the installation and calibration operators.

The invention is applicable to the installation and calibration operation of the self-collimating dynamic target, can be applied to the technical field of processing and manufacturing of the self-collimating dynamic target, and can also be applied to the technical field of experiment testing of the self-collimating dynamic target.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein:

Fig. 1 is a schematic diagram of the self-collimation dynamic target optical alignment method based on double theodolite according to the present invention.

FIG. 2 is a schematic diagram of the sub-optical path alignment method described in the first embodiment.

FIG. 3 is a schematic diagram of the internal structure of the sub-optical path 13 described in the eighth embodiment.

FIG. 4 is an optical path diagram of the sub-optical path 13 described in the eighth embodiment.

In the figure: sub-optical path installation and calibration tooling 1, reference mirror 2, collimator 3, horizontal installation platform 4, sub-optical path 13, card antenna 14, rotating optical axis 15, test reference mirror 16, first theodolite 17, Rocker arm 18, second guiding mirror 19, second theodolite 20, first guiding mirror 21, sub-optical path mounting plate 22, parallel tube camera 24, test reference mirror mounting boss 25 in the rotating optical axis, and self-collimating dynamic target School tooling 26.

The sub-optical path 13 includes: a laser receiving camera 5, a laser receiving lens 6, a laser receiving mirror 7, a beam splitter 8, a deflection mirror 9, an infrared beam splitter 10, a laser emitting unit 11, an infrared emitting unit 12, and a sub-optical path installation frame 23 .

Detailed ways

Various embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. The embodiments described by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

Embodiment 1. Refer to FIG. 1 and FIG. 2 to illustrate this embodiment. What this embodiment describes is a kind of self-collimating dynamic target optical calibration method based on double theodolite, which is to use double theodolite to realize the coaxial calibration of the light guide mirror and the sub-optical path of the self-collimating dynamic target. The calibration method includes :

Step 1. Fix the rotating optical axis 15 through the self-collimating dynamic target installation and calibration tool 26, and use the first theodolite 17 in combination with the test reference mirror 16 to complete the calibration of the optical axis consistency between the test reference mirror 16 and the rotating optical axis 15. The attitude of the first theodolite 17 is A;

Step 2, adjust the first theodolite 17 to rotate 45 ° and become attitude C; adjust and determine the position and initial attitude B of the second theodolite 20;

Step 3, install the first light guide mirror 21, adjust the posture of the first light guide mirror 21 through the second theodolite 20, and calibrate the angle between the first light guide mirror 21 and the rotating optical axis 15, and complete the Describe the adornment calibration of the first light guide mirror 21; Now the attitude of the second theodolite is D;

Step 4, remove the first guide mirror 21 and the test reference mirror 16;

Step five, install the sub-optical path 13 and the cassette antenna 14 as a whole on the left end of the rotating optical axis 15, adjust the posture of the first theodolite 17 to return to posture A, and calibrate the sub-optical path 13 and the cassette antenna 14 through the first theodolite 17 attitude, complete the installation of the sub-optical path 13 and the card antenna 14;

Step 6, remove the reference mirror 2; install the first guide mirror 21 to the original position, and fix it by installing the positioning pin;

Step 7: Install the second light guide mirror 19 , adjust the posture of the second light guide mirror 19 through the first theodolite 17 and the second theodolite 20 , and complete the installation and calibration of the second light guide mirror 19 .

The structure of the self-collimating dynamic target installed in this embodiment is shown in Figure 1: the sub-optical path 13 is fixedly connected to the clip-type antenna 14 through the sub-optical path mounting plate 22, and the clip-type antenna 14 is embedded and fixed on the rotating optical axis 15 Inside, the rotating optical axis 15 is coaxially connected to the rocker arm 18 through a bearing, the inner ring of the bearing is connected to the outer ring of the rotating optical axis, and the outer ring of the bearing is connected to the inner ring of the rocker arm 18, here the rocker arm 18 and the cassette antenna 14 is relatively rotated, and the rocker arm 18 is provided with a first light guide mirror installation position and a second light guide mirror installation position, which are respectively used to fix the first light guide mirror 21 and the second light guide mirror 19 .

In this embodiment, a double theodolite (the first theodolite 17 and the second theodolite 20) is used to complete the calibration, and the theodolite can be a Lycra theodolite.

The sub-optical path 13 and the card antenna 14 described in this embodiment are overall structures after installation and calibration. The installation and calibration of the sub-optical path 13 and the card antenna 14 can be realized by existing methods.

In the calibration method described in this embodiment, at first the first theodolite is used to complete the optical axis consistency calibration of the rotating optical axis 15 and the test reference reflector 16, wherein the position of the test reference reflector 16 is the position of the card antenna 14. The position of the secondary mirror. Then the position and the initial attitude B of the second theodolite 20 are determined by the first theodolite 17; after that, the first light guide mirror 21 is calibrated by the two theodolites, and then the second light guide mirror 19 is calibrated.

Compared with the prior art, this method does not need to use the collimator and the operation of moving the collimator multiple times, and the operation is halved.

In this method, after the first theodolite determines the position, it is only necessary to adjust the pitch angle, and the position of the second theodolite is determined by the first theodolite 17. The calibration rate and the accuracy of the calibration.

Embodiment two. This embodiment is an example of the implementation method of step one in a kind of self-collimating dynamic target optical calibration method based on double theodolite described in embodiment one, and described step one includes:

Fix the rotating optical axis 15 on the autocollimating dynamic target installation and calibration tooling 26;

Fix the test reference mirror 16 on the boss 25 of the fixed reference mirror provided inside the rotating optical axis 15;

Place the first theodolite 17 on the right side of the rotating optical axis 15, and keep it as a horizontal posture, then adjust its position and posture so that the light beam emitted by the first theodolite 17 is incident again after being reflected by the reference reflector 16 To form an imaging cross spot in the first theodolite 17;

Control the rotating optical axis 15 to rotate until the imaging cross spot in the first theodolite 17 moves to the center position of its crosshairs, and complete the alignment of the optical axis of the reference mirror 16 and the rotating optical axis 15; at this time, the first theodolite 17 is on the same optical axis as the test reference reflector 16, marks the attitude of the first theodolite 17 at this time as A, and records the azimuth and elevation values of the attitude A.

Embodiment three. This embodiment is an illustration of the implementation method of step 2 in a kind of self-collimating dynamic target optical calibration method based on double theodolite described in embodiment 1, and the specific method of described step 2 is:

The first theodolite 17 azimuth is rotated 45 °, becomes attitude C, the second theodolite 20 is adjusted it is in horizontal attitude, by adjusting the position, the attitude of the second theodolite 20, the light beam that the first theodolite 17 is launched is incident on the second theodolite In the second theodolite 20, an imaging cross spot is formed, and the imaging cross spot is moved to the crosshair center position of the second theodolite 20. At this moment, the attitude of the second theodolite 20 is the initial attitude B, and the orientation under the attitude is recorded. and pitch values.

Embodiment 4. This embodiment is an illustration of the implementation method of step 3 in a kind of self-collimating dynamic target optical calibration method based on double theodolite described in embodiment 1, and the specific method of described step 3 is:

Adjust the azimuth rotation of the second theodolite 20 for 45° so that it points to the installation position of the first guide mirror 21;

installing a first guide mirror 21 at the installation position of the first guide mirror;

Control the second theodolite 20 to emit light beams, so that the light beams reflected by the first theodolite 21 of the emitted light beams are incident on the second theodolite 20 to form an imaging cross spot, and adjust the attitude of the first guide mirror 21 until the The cross spot moves to the central position of the cross line of the second theodolite 20 to complete the calibration of the angle between the first guide mirror 21 and the rotating optical axis 15; at this time, the posture D of the first guide mirror 21, at this time, the The included angle between the first guiding mirror 21 and the rotating optical axis 15 is 45°, and this attitude can effectively ensure the positioning accuracy during reset.

The optical path of the second theodolite 20 emitting light output is: the emitted light beam is incident on the first guide mirror 21, is reflected to the test reference reflector 16, and is incident on the first guide mirror 21 again after the test reference reflector 16 is reflected. After being reflected by the first guide mirror 21, it enters the second theodolite 20 .

Embodiment five. This embodiment is an illustration of the implementation method of step five in a kind of self-collimating dynamic target optical correction method based on double theodolite described in embodiment one, and the specific method of described step five is:

The sub-optical path 13 and the card antenna 14 are integrally installed on the left end of the optical axis of rotation 15. At this time, the reference reflector 2 is installed on the back of the 14 secondary mirrors of the card antenna, and the reference reflector 2 and the test reference reflector 16 The positions are different. The reference reflector 2 is installed at the reserved position on the back of the card-type antenna secondary mirror. There is a truss structure inside the rotating optical axis 15. In the center of the truss structure, there is a mounting boss 25 for installing the test reference reflector 16;

The attitude of the first theodolite 17 is adjusted to attitude A, and then the light beam is sent, and the light beam is reflected by the reference reflector 2 on the card antenna 14, and the imaging cross spot is formed in the first theodolite 17;

By adjusting the overall posture of the sub-optical path 13 and the card antenna 14, until the imaging cross spot moves to the center position of the crosshairs of the first theodolite 17, the optical axis of the sub-optical path 13 coincides with the optical axis of theodolite 17 to realize the sub-optical path The optical axis of the optical axis and the optical axis of the rotating shaft are calibrated, and the assembly of the sub-optical path 13 and the card antenna 14 is completed.

Embodiment six. This embodiment is an illustration of the implementation method of step seven in a kind of self-collimating dynamic target optical calibration method based on double theodolite described in embodiment one, and the specific method of described step seven is:

Take off the reference reflector 2, and install the second guide mirror 19 at the installation position of the first guide mirror of the rocker arm 18;

The first theodolite 17 is rotated 60 ° and becomes posture F;

Adjust the posture of the second theodolite 20, so that the imaging cross spot that the second theodolite 20 receives is located at the crosshair center position of the second theodolite 20, at this moment, the position and the posture of the second theodolite 20 are E;

Rotate the angle of the second theodolite 20 by 120° to become attitude H, so that the light beam it emits is aimed at the second guide mirror 19;

The sub-optical path 13 emits light beams, and the light beams are reflected by the first guide mirror 21 and then sent to the second guide mirror 19, and then incident on the second theodolite 20 after being reflected by the second guide mirror 19, in the second theodolite 20 Form an imaging cross spot;

Adjust the posture of the second guide mirror 19 so that the imaging cross spot moves to the center position of the crosshairs in the second theodolite 20. At this time, it shows that the angle between the second guide mirror 19 and the rotating optical axis 15 is 45° , the second guide mirror 19 is fixed by positioning pins, and the installation and calibration of the second light guide mirror 19 is completed.

Embodiment 7. This embodiment is a kind of self-collimating dynamic target optical calibration method based on double theodolite described in Embodiment 1. The sub-optical path 13 and the card antenna 14 are fixed together to form a whole, so Said whole can be realized by adopting the existing installation method. This embodiment provides a kind of calibration method:

After the self-collimating dynamic target sub-optical path 13 and the card antenna 14 are fixedly connected through the sub-optical path mounting plate, they are fixed on the sub-optical path installation and calibration tool 1, and the installation and calibration tool 1 is fixed on the horizontal optical platform 4;

Install the reference reflector 2 at the position reserved for the 14th secondary mirror of the card-type optical antenna;

Control the collimator 3 to emit light beams to enter the reference mirror 2, and reflect back to the collimator 3 through the reference mirror 2, and then the collimator 3 is incident into the collimator camera 24 to form an imaging spot;

Adjust the posture of the sub-optical path installation and calibration tooling 1 so that the imaging spot is located at the center of the field of view of the collimator camera 24. At this time, the card antenna 14 coincides with the optical axis of the collimator 3, and the card antenna 14 is aligned with the parallel beam. Optical axis calibration of light pipe 3;

The internal structure of the sub-optical path 13 is adjusted.

The light beam emitted by the collimator 3 can be realized by using visible light, for example: using a light beam with a wavelength of 600nm, which is more convenient to observe the optical path during the installation and calibration process.

The collimator can be adopted as a multi-focal plane collimator.

Embodiment 8. This embodiment is an example of the method for adjusting the internal structure of the sub-optical path 13 in a kind of self-collimation dynamic target optical adjustment method based on double theodolite described in Embodiment 7. The method for:

Adjust the postures of the laser receiving reflector 7 and the beam splitter 8 respectively, so that the light beam emitted by the collimator 3 is located at the center of the lens when reaching the laser receiving reflector 7 and the beam splitter 8;

Install the yaw mirror 9 and the infrared beam splitter 10, and adjust the postures of the two respectively, so that the light beams emitted by the collimator 3 are all in the center of the lens when they respectively arrive at the installed yaw mirror 9 and the infrared beam splitter 10;

Assembling and calibrating the laser receiving unit as a whole, and determining the attitude of the laser receiving unit as a whole;

Install the infrared emitting unit 12, adjust the posture of the infrared emitting unit 12 and its overall posture with the infrared beam splitter 10, and complete the installation of the infrared emitting unit 12 and the infrared beam splitter 10;

Install and adjust the attitude of the laser emitting unit 11, perform calibration, and complete the calibration inside the sub-optical path 13;

The process of adjusting the attitude of the laser emitting unit 11 is: adjust its attitude so that its emitted light beam passes through the sub-optical path 13 and the card antenna 14 and enters the collimator camera 24 to form an imaging spot located in the field of view of the collimator camera 24. The center position of the field to complete the attitude adjustment.

The structure of the sub-optical path described in this embodiment is shown in FIGS. On one side, after the laser emitting unit 11 transmits the light beam to the infrared beam splitter 10, the light beam transmitted by the infrared beam splitter 10 and the infrared beam refracted by the infrared beam splitter 10 form a beam of light that is emitted to the swing mirror 9, so The deflection mirror 9 reflects the incident light and sends it to the beam splitter 8, the beam reflected by the beam splitter 8 is sent to the laser receiving mirror 7, and the beam reflected by the laser receiving mirror 7 is sent to the laser receiving camera 5 , imaged in the laser receiving camera 5 , and the light beam transmitted by the beam splitter 8 is sent to the card antenna 14 .

The above-mentioned laser receiving camera 5, laser receiving reflector 7, beam splitter 8, deflection mirror 9, infrared beam splitter 10, laser emitting unit 11 and infrared emitting unit 12 are all fixed on the mounting frame 23, wherein the laser receiving camera 5 The receiving lens 6 faces the reflection surface of the laser receiving mirror 7 .

Embodiment 9. This embodiment is an example of the steps in the method of self-collimating dynamic target optical installation based on double theodolite described in Embodiment 8. The overall assembly of the laser receiving unit described in this embodiment The school method is:

Adjust the overall posture of the laser receiving unit so that the imaging spot of the light beam emitted by the collimator 3 in the laser receiving camera 5 is located at the center of the field of view;

Adjust the focal plane of the laser receiving camera 5 so that it coincides with the lens focal plane of the laser receiving lens 6, that is, complete the calibration of the laser receiving unit.

Embodiment 10. This embodiment is an illustration of the steps in a self-collimating dynamic target optical calibration method based on a double theodolite described in Embodiment 8. In this embodiment, the infrared emitting unit 12 and the infrared spectroscopic The calibration method of mirror 10 is as follows:

Adjust the posture of the infrared emitting unit 12 so that the beam it emits forms an imaging spot in the collimator camera 24, keeping the relative position of the infrared emitting unit 12 and the infrared beam splitter 10 constant;

Adjust the overall posture of the infrared emitting unit 12 and the infrared beam splitter 10, so that the imaging spot moves to the center of the field of view of the collimator camera 24, and complete the installation and calibration of the infrared emitting unit 12 and the infrared beam splitter 10.

Claims (5)

1. The method is characterized in that the method adopts the double theodolites to realize the coaxial alignment of the guide mirror and the sub-optical path of the auto-collimation dynamic target, and the alignment method comprises the following steps:

fixing a rotating optical axis (15) through an auto-collimation dynamic target calibration tool (26), and completing optical axis consistency calibration of a test reference reflector (16) and the rotating optical axis (15) by adopting a first theodolite (17) in combination with the test reference reflector (16), wherein the posture of the first theodolite (17) is A;

step two, adjusting the first theodolite (17) to rotate 45 degrees to change the attitude C; adjusting and determining the position and initial attitude B of the second theodolite (20);

step three, installing a first guide mirror (21), adjusting the gesture of the first guide mirror (21) through a second theodolite (20), and calibrating the included angle between the first guide mirror (21) and a rotating optical axis (15), thereby completing the installation and calibration of the first guide mirror (21); the second theodolite (20) has a posture D at this time;

step four, detaching the first guide mirror (21) and the test reference mirror (16);

fifthly, integrally mounting the sub-optical path (13) and the card antenna (14) at the left end of the rotating optical axis (15), adjusting the posture of the first theodolite (17) to be recovered to the posture A, and calibrating the postures of the sub-optical path (13) and the card antenna (14) through the first theodolite (17) to finish the assembly and calibration of the sub-optical path (13) and the card antenna (14);

step six, taking down the reference reflector (2); the first guide mirror (21) is installed to an original position and fixed through an installation positioning pin;

step seven, installing a second guide mirror (19), and adjusting the posture of the second guide mirror (19) through the combination of the first theodolite (17) and the second theodolite (20), so as to finish the installation and calibration of the second guide mirror (19);

the specific method of the first step is as follows:

fixing the rotating optical axis (15) on an auto-collimation dynamic target assembling and calibrating tool (26);

a test reference mirror (16) is fixed on a boss (25) of the fixed test reference mirror (16) arranged inside the rotating optical axis (15);

the first theodolite (17) is arranged on the right side of the rotating optical axis (15) and kept in a horizontal posture, and then the position and the posture of the first theodolite are adjusted so that a light beam emitted by the first theodolite (17) is reflected by the test reference reflector (16) and then is incident into the first theodolite (17) again to form an imaging cross light spot;

controlling the rotation of the rotating optical axis (15) until an imaging cross light spot in the first theodolite (17) moves to the center position of a cross line of the imaging cross light spot, and completing the optical axis consistency calibration of the test reference reflector (16) and the rotating optical axis (15); marking the attitude of the first theodolite (17) at the moment as A, and recording the azimuth and pitching values of the attitude A;

the specific method of the second step is as follows:

the azimuth of the first theodolite (17) is rotated 45 degrees to form an attitude C, the second theodolite (20) is adjusted to be in a horizontal attitude, the light emitted by the first theodolite (17) enters the second theodolite (20) and forms an imaging cross light spot by adjusting the position and the attitude of the second theodolite (20), the imaging cross light spot is moved to the center position of a cross line of the second theodolite (20), and at the moment, the attitude of the second theodolite (20) is an initial attitude B, and the azimuth and pitching values under the attitude are recorded;

the specific method of the third step is as follows:

adjusting the azimuth rotation of the second theodolite (20) by 45 degrees to lead the second theodolite to point to the installation position of the first guide mirror (21);

-mounting a first guiding mirror (21) at the mounting position;

controlling the second theodolite (20) to emit light beams, enabling the light beams reflected by the first guide mirror (21) to be incident to the second theodolite (20) to form imaging cross light spots, adjusting the gesture of the first guide mirror (21) until the cross light spots move to the center position of a center cross line of the second theodolite (20), and completing the calibration of the included angle between the first guide mirror (21) and the rotating optical axis (15); at this time, the posture D of the first guide mirror (21);

the specific method of the fifth step is as follows:

integrally mounting the sub-optical path (13) and the card antenna (14) to the left end of the rotating optical axis (15);

the attitude of a first theodolite (17) is adjusted to be an attitude A, and then a light beam is emitted, so that the light beam is reflected by a reference reflector (2) on a card antenna (14) and an imaging cross light spot is formed in the first theodolite (17);

the integral postures of the sub-optical path (13) and the clamp antenna (14) are adjusted until the imaging cross light spot moves to the center position of the cross line of the first theodolite (17), so that the optical axis of the sub-optical path (13) is calibrated with the optical axis of the rotating optical axis (15), and the assembly and calibration of the sub-optical path (13) are completed;

the specific method of the step seven is as follows:

the reference reflector (2) is taken down, and the second guide mirror (19) is arranged at the mounting position of the first guide mirror of the rocker arm (18);

rotating the first theodolite (17) by 60 degrees to become a posture F;

adjusting the posture of a second theodolite (20) so that an imaging cross light spot received by the second theodolite (20) is positioned at the center of a cross line of the second theodolite (20), and at the moment, the position and the posture of the second theodolite (20) are E;

rotating the angle of the second theodolite (20) by 120 degrees to form a posture H, so that the emitted light beam is aligned with a second guide mirror (19);

the sub-optical path (13) emits a light beam, the light beam is reflected by the first guide mirror (21) and then emitted to the second guide mirror (19), the light beam is reflected by the second guide mirror (19) and then enters the second theodolite (20), and an imaging cross light spot is formed in the second theodolite (20);

and adjusting the posture of the second guide mirror (19) to enable the imaging cross light spot to move to the center position of a cross line in the second theodolite (20), and fixing the second guide mirror (19) through a locating pin to finish the assembly and calibration of the second guide mirror (19).

2. A method of auto-collimation dynamic target optical calibration based on dual theodolites according to claim 1, characterized in that the sub-optical path (13) and the card antenna (14) are fixed together to form a whole, said whole being calibrated by the following method:

integrally mounting an auto-collimation dynamic target sub-optical path (13) and a card antenna (14) on a sub-optical path calibration tool (1), wherein the calibration tool (1) is fixed on a horizontal optical platform (4);

installing a reference reflector (2) at a reserved position of a secondary mirror of the card antenna (14);

controlling the collimator (3) to emit light beams to be incident to the reference reflector (2), reflecting the light beams back to the collimator (3) through the reference reflector (2), and then entering the collimator (3) to the collimator camera (24) to form imaging light spots;

adjusting the posture of the sub-optical path assembling and correcting tool (1) to enable the imaging light spot to be located at the center of the view field of the collimator camera (24), and finishing the optical axis calibration of the card type antenna (14) and the collimator (3);

and (3) carrying out assembly correction on the internal structure of the sub-optical path (13).

3. The method for calibrating the auto-collimation dynamic target optical based on the double theodolites according to claim 2, wherein the method for calibrating the internal structure of the sub-optical path (13) is as follows:

the postures of the laser receiving reflector (7) and the spectroscope (8) are respectively adjusted, so that light beams emitted by the collimator (3) are respectively positioned at the central positions of the laser receiving reflector (7) and the spectroscope (8);

the method comprises the steps of installing a deflection mirror (9) and an infrared spectroscope (10), and respectively adjusting the postures of the deflection mirror and the infrared spectroscope, so that light beams emitted by a collimator (3) are positioned in the center of a lens when reaching the installation deflection mirror (9) and the infrared spectroscope (10) respectively;

assembling and correcting the whole laser receiving unit, and determining the posture of the whole laser receiving unit;

installing an infrared emission unit (12), adjusting the posture of the infrared emission unit (12) and the integral posture of the infrared emission unit and an infrared spectroscope (10), and finishing the assembly and calibration of the infrared emission unit (12) and the infrared spectroscope (10);

installing and adjusting the posture of the laser emission unit (11), and performing assembling and calibrating to finish assembling and calibrating the inside of the sub-optical path (13); the process for adjusting the posture of the laser emission unit (11) comprises the following steps: the posture of the collimator is adjusted so that the emitted light beam is incident into the collimator camera (24) through the sub-light path (13) and the card antenna (14) to form an imaging light spot which is positioned at the center of the field of view of the collimator camera (24), and the posture adjustment is completed.

4. The method for calibrating the auto-collimation dynamic target optics based on the dual theodolites according to claim 3, wherein the method for calibrating the whole laser receiving unit is as follows:

adjusting the integral posture of the laser receiving unit to enable an imaging facula of a light beam emitted by the collimator (3) in the laser receiving camera (5) to be positioned at the center of a field of view;

and adjusting the focal plane of the laser receiving camera (5) to enable the focal plane to coincide with the lens focal plane of the laser receiving lens (6), and thus completing the assembly and calibration of the laser receiving unit.

5. A method for calibrating an auto-collimation dynamic target optical system based on a dual theodolite according to claim 3, wherein the method for calibrating the infrared emission unit (12) and the infrared spectroscope (10) comprises the following steps:

adjusting the posture of the infrared emission unit (12) so that the emitted light beam forms an imaging light spot in the collimator camera (24), and keeping the relative position of the infrared emission unit (12) and the infrared spectroscope (10) unchanged;

and adjusting the integral postures of the infrared emission unit (12) and the infrared spectroscope (10) to enable the imaging light spot to move to the center position of the view field of the collimator camera (24), and completing the assembly and calibration of the infrared emission unit (12) and the infrared spectroscope (10).