CN116499308A - Correction method, correction device and correction system for setting mortar firing angle - Google Patents
Correction method, correction device and correction system for setting mortar firing angle Download PDFInfo
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- CN116499308A CN116499308A CN202310552008.8A CN202310552008A CN116499308A CN 116499308 A CN116499308 A CN 116499308A CN 202310552008 A CN202310552008 A CN 202310552008A CN 116499308 A CN116499308 A CN 116499308A
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- 239000004570 mortar (masonry) Substances 0.000 title claims abstract description 160
- 238000012937 correction Methods 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000010304 firing Methods 0.000 title abstract description 28
- 239000013598 vector Substances 0.000 claims description 71
- 238000012545 processing Methods 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 239000000243 solution Substances 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- HOWHQWFXSLOJEF-MGZLOUMQSA-N systemin Chemical compound NCCCC[C@H](N)C(=O)N[C@@H](CCSC)C(=O)N[C@@H](CCC(N)=O)C(=O)N[C@@H]([C@@H](C)O)C(=O)N[C@@H](CC(O)=O)C(=O)OC(=O)[C@@H]1CCCN1C(=O)[C@H]1N(C(=O)[C@H](CC(O)=O)NC(=O)[C@H](CCCN=C(N)N)NC(=O)[C@H](CCCCN)NC(=O)[C@H](CO)NC(=O)[C@H]2N(CCC2)C(=O)[C@H]2N(CCC2)C(=O)[C@H](CCCCN)NC(=O)[C@H](CO)NC(=O)[C@H](CCC(N)=O)NC(=O)[C@@H](NC(=O)[C@H](C)N)C(C)C)CCC1 HOWHQWFXSLOJEF-MGZLOUMQSA-N 0.000 description 2
- 108010050014 systemin Proteins 0.000 description 2
- 241000237536 Mytilus edulis Species 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000020638 mussel Nutrition 0.000 description 1
- QERYCTSHXKAMIS-UHFFFAOYSA-M thiophene-2-carboxylate Chemical compound [O-]C(=O)C1=CC=CS1 QERYCTSHXKAMIS-UHFFFAOYSA-M 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F1/00—Launching apparatus for projecting projectiles or missiles from barrels, e.g. cannons; Harpoon guns
- F41F1/06—Mortars
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
- F41A27/30—Stabilisation or compensation systems, e.g. compensating for barrel weight or wind force on the barrel
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention relates to the technical field of mortar correction, in particular to a correction method, a correction device and a correction system for setting a mortar firing angle. Comprising the following steps: establishing a gun body coordinate system by using a gun body rotation center and a gun trunnion inclined plane, and establishing a geodetic coordinate system by using the gun body rotation center and a ground plane; converting a mortar target azimuth angle, a mortar target pitch angle, a mortar actual azimuth angle and a mortar actual pitch angle under a geodetic coordinate system into a gun body coordinate system according to a gun body target pitch angle, a gun body actual pitch angle, a gun body trunnion inclination angle and a deviation angle of a gun bore axis from a shooting surface; the azimuth angle correction amount is obtained according to the azimuth angle of the mortar target and the actual azimuth angle of the mortar under the gun body coordinate system, and the pitch angle correction amount is obtained according to the pitch angle of the mortar target and the actual pitch angle of the mortar under the gun body coordinate system. The invention eliminates the gun adjustment error generated in the gun adjustment process of the gun trunnion inclination angle, and improves the setting precision of the mortar firing angle.
Description
Technical Field
The invention relates to the technical field of mortar correction, in particular to a correction method, a correction device and a correction system for setting a mortar firing angle.
Background
The mortar is used as a curved firing gun for hundreds of years, and can quickly shoot targets with the special advantages of light weight, simple operation and trajectory. The requirements for weapons are also increasing in modern rapidly changing warfare, which requires support of high and new technologies to accommodate the battlefield. For artillery, the impact point is accurate after the gun is striven for, and the importance of shooting accuracy is greater than range and firepower. Thus placing higher demands on the setting of the firing angle during the aiming of the mortar.
The mortar angle is set directly by the gauge means of the sight or by using a mortar quadrant. However, both methods have large mechanical errors and manual operation errors, which seriously affect the firing accuracy of the mortar. The method for detecting the gun adjustment precision by using the double theodolites, the total station and the like is time-consuming and labor-consuming, and is used for a fighter with mussel, the complex checking process has extremely high requirements on operators, and the incorrect operation can lead to larger firing angle setting errors.
Disclosure of Invention
The invention provides a correction method, a correction device and a correction system for setting a mortar firing angle, which solve the problems of low precision and low efficiency of firing angle setting in the related art.
A first aspect of the invention provides a correction method for setting a mortar angle, comprising:
s10: establishing a gun body coordinate system by using a gun body rotation center and a gun trunnion inclined plane, and establishing a geodetic coordinate system by using the gun body rotation center and a ground plane;
s20: converting a mortar target azimuth angle, a mortar target pitch angle, a mortar actual azimuth angle and a mortar actual pitch angle under a geodetic coordinate system into a gun body coordinate system according to a gun body target pitch angle, a gun body actual pitch angle, a gun body trunnion inclination angle and a deviation angle of a gun bore axis from a shooting surface;
s30: the azimuth angle correction amount is obtained according to the azimuth angle of the mortar target and the actual azimuth angle of the mortar under the gun body coordinate system, and the pitch angle correction amount is obtained according to the pitch angle of the mortar target and the actual pitch angle of the mortar under the gun body coordinate system.
Further, the step S10 includes:
taking a gun body rotation center as an origin, forming a Y ' OX ' surface by a gun trunnion inclined plane, determining a Z ' axis by a right hand rule, and establishing a gun body coordinate system;
taking a shell rotation center as an origin, forming a YOX surface by a ground plane, determining a Z axis by a right-hand method, and establishing a geodetic coordinate system;
wherein, the X' axis of the gun body coordinate system coincides with the X axis of the geodetic coordinate system, and the gun body target is shot.
Further, the step S20 includes:
under a geodetic coordinate system, according to the inclination angle of the gun trunnion, acquiring a normal vector of the gun trunnion inclined plane, according to the actual pitch angle and the deviation angle of the gun body, acquiring an actual unit direction vector of the gun body, and according to the normal vector of the gun trunnion inclined plane and the actual unit direction vector, acquiring an actual projection vector of the actual gun body on the gun trunnion inclined plane;
acquiring an actual azimuth angle under a gun body coordinate system according to a unit vector of a gun bore axis and the actual projection vector, and acquiring an actual pitch angle under the gun body coordinate system according to the actual unit direction vector and the actual projection vector;
acquiring a target unit direction vector pointed by a gun body target according to the gun body target pitch angle, and acquiring a target projection vector of the target gun body on the gun body tilting plane according to a normal vector of the gun body tilting plane and the target unit direction vector;
and obtaining a target azimuth angle under a gun body coordinate system according to the unit vector of the gun bore axis and the target projection vector, and obtaining a target pitch angle under the gun body coordinate system according to the target unit direction vector and the target projection vector.
Further, the normal vector r1= (0, -sin theta) of the cannon trunnion inclined plane 2 ，cosθ 2 ) The actual unit direction vector r2= (cos beta 1 cos(-θ 1 )，cosβ 1 sin(-θ 1 )，sinβ 1 ) The actual projection vector r3=r1× (r2×r1), the unit vector r4= (1, 0) of the bore axis, the actual in the barrel coordinate systemIn the shell coordinate system +.>
The target unit direction vector r5= (cos beta 2 ，0，sinβ 2 ) The target projection vector r6=r1× (r5×r1), the barrel coordinate systemIn the shell coordinate system +.>
Wherein beta is 1 Is the actual pitch angle of the gun body under the geodetic coordinate system, beta 2 Is the pitch angle theta of a gun body target in a geodetic coordinate system 1 As the off angle, θ 2 Is the angle of inclination of the gun trunnion.
Further, the step S30 includes:
the azimuth correction amount is the difference value between the target azimuth angle of the mortar and the actual azimuth angle of the mortar in the shell coordinate system;
the pitch angle correction is the difference between the target pitch angle of the mortar and the actual pitch angle of the mortar in the hull coordinate system.
Further, it further includes the steps performed before step S20:
the actual pitch angle of the gun body is measured by an MEMS inclination angle sensor, and the off angle of the axis of the gun bore deviating from the shooting surface and the gun trunnion inclination angle are measured by an auto-collimation angle measuring device.
A second aspect of the present invention provides a correction device for setting a mortar angle, for implementing a correction method for setting a mortar angle as described in any of the above, comprising:
the establishing module is used for establishing a gun body coordinate system taking a gun body rotation center as an origin, taking a gun trunnion inclined plane as a reference and a geodetic coordinate system taking the gun body rotation center as the origin and taking a ground plane as a reference;
the processing module is used for converting the mortar target azimuth angle, the mortar target pitch angle, the mortar actual azimuth angle and the mortar actual pitch angle under the geodetic coordinate system into the mortar coordinate system according to the mortar target pitch angle, the mortar actual pitch angle, the mortar trunnion inclination angle and the offset angle of the axis of the gun bore from the shot surface;
the calculation module is used for obtaining an azimuth angle correction amount according to the azimuth angle of the mortar target and the actual azimuth angle of the mortar in the gun body coordinate system, and obtaining a pitch angle correction amount according to the pitch angle of the mortar target and the actual pitch angle of the mortar in the gun body coordinate system.
A third aspect of the present invention provides a correction system for setting a mortar firing angle, comprising a MEMS tilt sensor, an auto-collimation angle-measuring device and the correction device for setting a mortar firing angle as described above, both of which are in communication with the correction device for setting a mortar firing angle, the MEMS tilt sensor being mounted on a mortar body and the auto-collimation angle-measuring device being mounted on a mortar sight mount;
the MEMS inclination sensor is used for acquiring the actual pitch angle of the gun barrel, and the auto-collimation angle measuring device is used for acquiring the off angle of the axis of the gun barrel deviating from the shooting face and the gun barrel inclination angle.
Further, the auto-collimation angle measurement device comprises: the device comprises a collimating objective lens, a CMOS area array camera, a beam splitting prism, a cross reticle, a light source, a reflecting mirror and a data processing device, wherein the light source is positioned in the incident direction of the beam splitting prism, the cross reticle is positioned between the light source and the beam splitting prism, the collimating objective lens is positioned in the reflecting direction of the beam splitting prism, the reflecting mirror is positioned in the transmission direction of the collimating objective lens, the cross reticle and the CMOS area array camera are both positioned on the focal plane of the collimating objective lens with equivalent light paths, the reflecting mirror is fixed on the body, and the CMOS area array camera is connected with the data processing device;
the data processing device is used for acquiring the off angle of the axis of the gun bore deviating from the shooting surface and the inclination angle of the gun trunnion according to the image acquired by the CMOS area array camera.
Further, the data processing apparatus performs the steps of:
establishing a coordinate system taking electronic division as a reference in an image acquired by a CMOS area array camera;
acquiring coordinates (X) of a cross hair echo of a cross reticle in a current coordinate system CMOS’ ，Y CMOS’ )；
Acquiring initial coordinate position (X) of zero line zero position moment of cross silk back image of cross reticle in direct aiming state CMOS ，Y CMOS )；
Offset angle θ of bore axis from plane of emission 1 ＝(X CMOS’ -X CMOS )/2f；
Gun trunnion inclination angle theta 2 ＝(Y CMOS’ -Y CMOS )/2f。
The invention has the beneficial effects that: the correction method for setting the mortar firing angle can convert the actual azimuth angle and the actual pitch angle of the gun body into the actual azimuth angle and the actual pitch angle under the gun body coordinate system according to the trunnion inclination angle of the mortar, the off angle of the axis of the gun bore deviating from the firing surface and the actual pitch angle of the gun body, and then convert the actual azimuth angle and the target pitch angle into the gun body coordinate system according to the target azimuth angle and the target pitch angle under the geodetic coordinate system for data processing to obtain the azimuth angle correction amount and the pitch angle correction amount. The method considers the influence of nonparallel of the trunnion and the ground plane on the firing accuracy of the mortar, thus establishing a gun body coordinate system, greatly eliminating the gun adjustment error generated in the gun adjustment process of the trunnion inclination angle of the mortar, simultaneously detecting the setting condition of the mortar firing angle in the whole course, knowing the setting condition of the gun body of the mortar at each moment and improving the setting accuracy of the mortar firing angle.
In the correction system for setting the firing angle of the mortar, the self-collimation principle and the MEMS inclination sensor are utilized to obtain the trunnion inclination angle of the mortar, the off angle of the axis of the gun bore deviating from the firing surface and the actual pitch angle of the gun barrel. The digital angle measurement mode avoids the tedious and time-consuming operation of redundant instruments such as theodolites, total stations and the like, can meet the battlefield requirement of instantaneous change, avoids manpower waste and improves the angle setting efficiency.
Drawings
FIG. 1 is a flow chart of a correction method for mortar angle setting according to the invention.
FIG. 2 is a schematic view of the structure provided by the correction system for setting the mortar angle according to the invention.
Fig. 3 is a schematic structural diagram of an auto-collimation angle-measuring device in the present invention.
Fig. 4 is a schematic view of vectors in a stemming coordinate system and a geodetic coordinate system.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings, in which the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed. But may include other steps or elements not expressly listed or inherent to such process, method, article of manufacture, or apparatus.
In one aspect of the invention, as shown in fig. 1, a flow chart is provided for the specific steps of a correction method for mortar angle setting according to the invention, as shown in fig. 1, the invention specifically comprises:
s10: a gun body coordinate system is established by a gun body rotation center and a gun trunnion inclined plane, and a geodetic coordinate system is established by the gun body rotation center and a ground plane.
Specifically, as shown in fig. 4, the turret coordinate system uses the turret rotation center as the origin, and the turret axis inclined plane forms the Y ' OX ' plane, and the Z ' axis is determined by the right hand method. The geodetic coordinate system takes the rotation center of the gun body as the origin, the ground plane forms a YOX plane, and the Z axis is determined by a right hand rule. Wherein, the X' axis of the gun body coordinate system coincides with the X axis of the geodetic coordinate system, and the gun body target is shot.
According to the gun body coordinate system and the geodetic coordinate system, calculating required azimuth angle correction and pitch angle correction according to the actual pitch angle of the gun body, the inclination angle of the gun trunnion, the deviation angle of the gun bore axis from the shooting face, the target azimuth angle and the target pitch angle.
S20: and converting the azimuth angle of the mortar target, the pitch angle of the mortar target, the actual azimuth angle of the mortar and the actual pitch angle of the mortar under the geodetic coordinate system into the gun body coordinate system according to the pitch angle of the gun body target, the actual pitch angle of the gun body, the inclined angle of the gun trunnion and the off angle of the gun bore axis, which deviate from the shooting face.
Setting the azimuth angle alpha of the gun body target of the mortar under the geodetic coordinate system 2 And the pitch angle of the gun body target is beta 2 Let the current actual azimuth angle of the gun body after gun body adjustment be alpha 1 And the actual pitch angle of the gun body is beta 1 . The azimuth angle alpha of the gun body target is that the direction of the gun body target is the X axis of the geodetic coordinate system and the X' axis of the gun body coordinate system 2 And the actual azimuth angle of the gun body is alpha 1 Are all 0, and the target pitch angle beta of the gun body 2 For the actual firing angle of the mortar, if the angle required for the current use of the mortar reaches 60 °, thenAt this time, the target pitch angle beta of the gun body 2 ＝60°。
Under a geodetic coordinate system, according to the cannon trunnion inclination angle, obtaining a normal vector of a cannon trunnion inclination plane, wherein the normal vector r1= (0, -sin theta) of the cannon trunnion inclination plane 2 ，cosθ 2 ) Wherein θ 2 Is the angle of inclination of the gun trunnion.
Under the geodetic coordinate system, according to the actual pitch angle and the deviation angle of the gun body, acquiring an actual unit direction vector of the gun body, wherein the actual unit direction vector r2= (cos beta) 1 cos(-θ 1 )，cosβ 1 sin(-θ 1 )，sinβ 1 ) Wherein beta is 1 Is the actual pitch angle theta of the gun body under the geodetic coordinate system 1 Is the off angle.
Under the geodetic coordinate system, according to the normal vector of the gun trunnion inclined plane and the actual unit direction vector pointed by the gun body, the actual projection vector of the actual gun body on the gun trunnion inclined plane is obtained, the actual projection vector r3=r1× (r2×r1), and the unit vector r4= (1, 0) of the gun bore axis.
By (alpha) Firecracker ，β Firecracker ) Representing the actual azimuth angle of the barrel and the actual pitch angle of the barrel in the barrel coordinate system, then,
thereby, the actual azimuth angle under the gun body coordinate system can be obtained according to the unit vector of the gun bore axis and the actual projection vector
Therefore, the actual pitch angle under the gun body coordinate system can be obtained according to the actual unit direction vector and the actual projection vector, and the actual pitch angle under the gun body coordinate system
According to the cannonThe pitch angle of the body target, and a target unit direction vector pointed by the body target is obtained, wherein the target unit direction vector r5= (cos beta) 2 ，0，sinβ 2 ) Wherein beta is 2 Is the pitch angle theta of a gun body target in a geodetic coordinate system 1 Is the off angle.
According to the normal vector of the trunnion inclined plane and the target unit direction vector, obtaining a target projection vector of a target body on the trunnion inclined plane, wherein the target projection vector r6=r1× (r5×r1);
by (alpha) Order of (A) ，β Order of (A) ) Representing the azimuth angle of the stemming target and the pitch angle of the stemming target in the stemming coordinate system, then,
thereby, the target azimuth angle under the gun body coordinate system can be obtained according to the unit vector of the gun bore axis and the target projection vector, and the target azimuth angle under the gun body coordinate system
Therefore, the target pitch angle under the gun body coordinate system can be obtained according to the target unit direction vector and the target projection vector, and the target pitch angle under the gun body coordinate system can be obtained
S30: the azimuth angle correction amount is obtained according to the azimuth angle of the mortar target and the actual azimuth angle of the mortar under the gun body coordinate system, and the pitch angle correction amount is obtained according to the pitch angle of the mortar target and the actual pitch angle of the mortar under the gun body coordinate system.
If the mortar is corrected to the target azimuth angle and pitch angle shooting requirement, the azimuth angle and pitch angle in the gun body coordinate system are consistent with the target requirement value.
The azimuth angle correction amount is the difference between the azimuth angle of the mortar target in the gun body coordinate system and the actual azimuth angle of the mortar in the gun body coordinate systemThe value is alpha Order of (A) -α Firecracker ；
The pitch angle correction is the difference between the target pitch angle of the mortar in the shell coordinate system and the actual pitch angle of the mortar in the shell coordinate system, namely beta Order of (A) -β Firecracker 。
After the azimuth correction amount and the pitch correction amount are obtained, the mortar is corrected according to the azimuth correction amount and the pitch correction amount, and specifically, the mortar adjustment correction can be performed manually or mechanically.
In one embodiment of the present invention, further comprising, performed before step S20: the actual pitch angle of the gun body is measured by an MEMS inclination angle sensor, and the off angle of the axis of the gun bore deviating from the shooting surface and the gun trunnion inclination angle are measured by an auto-collimation angle measuring device.
The azimuth angle rotation quantity and the roll angle rotation quantity of the reflecting mirror are measured by using the auto-collimation angle measurement device. The azimuth rotation amount and the roll angle rotation amount are equivalent to the offset angle of the bore axis from the ejection face and the trunnion inclination angle. The actual pitch angle of the mortar shell can be obtained by using an MEMS inclination sensor.
The method considers the influence of nonparallel of the trunnion and the ground plane on the firing accuracy of the mortar, thus establishing a gun body coordinate system, greatly eliminating the gun adjustment error generated in the gun adjustment process of the trunnion inclination angle of the mortar, simultaneously detecting the setting condition of the mortar firing angle in the whole course, knowing the setting condition of the gun body of the mortar at each moment and improving the setting accuracy of the mortar firing angle.
As another aspect of the present invention, there is provided a correction device for setting a mortar angle for realizing any one of the above-mentioned mortar angle setting correction methods, comprising
The establishing module is used for establishing a gun body coordinate system taking a gun body rotation center as an origin, taking a gun trunnion inclined plane as a reference and a geodetic coordinate system taking the gun body rotation center as the origin and taking a ground plane as a reference;
the processing module is used for converting the mortar target azimuth angle, the mortar target pitch angle, the mortar actual azimuth angle and the mortar actual pitch angle under the geodetic coordinate system into the mortar coordinate system according to the mortar target pitch angle, the mortar actual pitch angle, the mortar trunnion inclination angle and the offset angle of the axis of the gun bore from the shot surface;
the calculation module is used for obtaining an azimuth angle correction amount according to the azimuth angle of the mortar target and the actual azimuth angle of the mortar in the gun body coordinate system, and obtaining a pitch angle correction amount according to the pitch angle of the mortar target and the actual pitch angle of the mortar in the gun body coordinate system.
The beneficial effects of the present solution are the same as the correction method for setting the mortar angle described above, and therefore will not be described in detail here.
As a further aspect of the invention a correction system for setting a mortar angle is provided, as shown in fig. 2, comprising a MEMS tilt sensor 8, an auto-collimation angle-measuring device 7 and a correction device 9 for setting a mortar angle as described above. The MEMS tilt sensor 8, the auto-collimation angle-measuring device 1 are both in communication with the correction device 9 for mortar angle setting, the MEMS tilt sensor 8 is mounted on the mortar body, the auto-collimation angle-measuring device 7 is mounted on the mortar sight mount, and the auto-collimation angle-measuring device 7 is mounted as close as possible to the mortar ear axis.
The MEMS inclination sensor 8 is used for acquiring the actual pitch angle of the gun barrel, and the auto-collimation angle measuring device 7 is used for acquiring the off angle of the axis of the gun barrel deviating from the shooting face and the gun barrel inclination angle. The correction means 9 for setting the mortar angle performs the correction method for setting the mortar angle described above after obtaining the actual pitch angle of the barrel, the off angle of the barrel axis from the firing surface and the trunnion inclination angle, and calculates the azimuth correction amount and the pitch correction amount.
In one embodiment of the present invention, as shown in fig. 3, the auto-collimation angle-measuring device may have the following structure: the device comprises a collimating objective lens 1, a CMOS area array camera 3, a beam splitting prism 2, a cross reticle 4, a light source 5, a reflecting mirror 6 and a data processing device, wherein the light source 5 is positioned in the incidence direction of the beam splitting prism 2, the cross reticle 4 is positioned between the light source 5 and the beam splitting prism 2, the collimating objective lens 1 is positioned in the reflection direction of the beam splitting prism 2, the reflecting mirror 6 is positioned in the transmission direction of the collimating objective lens 1, the cross reticle 4 and the CMOS area array camera 3 are both positioned on the focal plane of the collimating objective lens 1 with equivalent light paths, the reflecting mirror 6 is fixed on a gun body, and the CMOS area array camera 3 is connected with the data processing device.
The MEMS angle measuring module 8 is fixed on the mortar body through a mounting device, moves along with the movement of the mortar body, can detect the pitch angle of the mortar in real time and transmits the pitch angle to a correcting device for setting the angle of the mortar.
The reflector is fixed on the gun body through the mounting device and moves along with the movement of the gun body, so that the azimuth angle rotation quantity and the roll angle rotation quantity of the reflector can be equivalent to the deviation angle of the axis of the gun bore from the shooting face and the inclination angle of the gun trunnion. The light source 5 of the auto-collimation angle measurement device emits light to illuminate the cross reticle 4, the cross silk image is incident into the collimation objective 1 through the beam splitting prism 2 and is received by the reflecting mirror 6, and the reflecting mirror 6 reflects the cross silk return image to be incident into the collimation objective 1 to display the cross silk return image on the CMOS area array camera 3. The data processing device is used for acquiring a deviation angle of a bore axis from a shooting surface and a gun trunnion inclination angle according to a cross wire return image acquired by the CMOS area array camera.
The data processing device may be an upper computer, which may be implemented by software, and the specific implementation steps are as follows:
a coordinate system taking the electronic division as a reference is established in an image acquired by the CMOS area array camera, a cross hair back image is acquired by the CMOS area array camera 3, the electronic division is established on the cross hair back image, and the coordinate system is established by taking the electronic division as a reference.
Acquiring coordinates of a cross silk back image of a cross reticle in a current coordinate system, and setting X CMOS’ Is the transverse displacement of the cross wire back image on the receiving surface of the CMOS area array camera, Y CMOS’ The longitudinal displacement of the cross wire back image on the receiving surface of the CMOS area array camera 3 is expressed as (X) CMOS’ ，Y CMOS’ )。
Acquiring initial coordinate position (X) of zero line zero position moment of cross silk back image of cross reticle in direct aiming state CMOS ，Y CMOS ) Wherein X is CMOS ，Y CMOS And (3) setting and debugging the cross wire return image at the initial coordinate position of zero line zero position moment in a direct aiming state after the auto-collimation angle measuring device is installed and debugged.
Offset angle θ of bore axis from plane of emission 1 Equivalent to the azimuth rotation quantity of a reflector and the angle theta of the trunnion 2 Equivalently, the roll angle rotation quantity, and f is the focal length of the collimating objective lens.
X can be obtained according to the principle of auto-collimation CMOS’ -X CMOS ＝f×tan 2θ 1 ，Y CMOS’ -Y CMOS ＝f×tan 2θ 2 。
Thus, it is possible to obtain:
azimuthal rotation of mirror:
roll angle rotation amount of the mirror:
to sum up, the offset angle theta of the axis of the bore from the injection surface 1 ＝(X CMOS’ -X CMOS ) 2f; gun trunnion inclination angle theta 2 ＝(Y CMOS’ -Y CMOS )/2f。
In summary, the correction system for setting the mortar firing angle provided by the invention calculates the rotation quantity of the reflecting mirror by acquiring the cross wire back image of the cross reticle on the CMOS area array camera after passing through the auto-collimation system, judging the movement quantity of the cross wire back image and the initial zero line zero state of the mortar; and carrying out space vector calculation on the angle provided by the auto-collimation method angle measuring device and the MEMS angle measuring module through the data processing module to obtain real-time correction quantity of the steering gear and the height machine of the mortar. The method realizes the digital detection of the setting precision of the mortar firing angle, reduces the complex operation amount of instruments such as a quadrant instrument, a double theodolite and the like, reduces the input of manpower, is more convenient to operate and further improves the setting precision.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and all such modifications and equivalents are intended to be encompassed in the scope of the claims of the present invention.
Claims (10)
1. A correction method for setting a mortar angle, comprising:
s10: establishing a gun body coordinate system by using a gun body rotation center and a gun trunnion inclined plane, and establishing a geodetic coordinate system by using the gun body rotation center and a ground plane;
s20: converting a mortar target azimuth angle, a mortar target pitch angle, a mortar actual azimuth angle and a mortar actual pitch angle under a geodetic coordinate system into a gun body coordinate system according to a gun body target pitch angle, a gun body actual pitch angle, a gun body trunnion inclination angle and a deviation angle of a gun bore axis from a shooting surface;
s30: the azimuth angle correction amount is obtained according to the azimuth angle of the mortar target and the actual azimuth angle of the mortar under the gun body coordinate system, and the pitch angle correction amount is obtained according to the pitch angle of the mortar target and the actual pitch angle of the mortar under the gun body coordinate system.
2. A correction method for mortar angle setting as claimed in claim 1, wherein said S10 comprises:
taking a gun body rotation center as an origin, forming a Y ' OX ' surface by a gun trunnion inclined plane, determining a Z ' axis by a right hand rule, and establishing a gun body coordinate system;
taking a shell rotation center as an origin, forming a YOX surface by a ground plane, determining a Z axis by a right-hand method, and establishing a geodetic coordinate system;
wherein, the X' axis of the gun body coordinate system coincides with the X axis of the geodetic coordinate system, and the gun body target is shot.
3. A method of correcting a setting of a mortar angle according to claim 1, wherein said step S20 comprises:
under a geodetic coordinate system, according to the inclination angle of the gun trunnion, acquiring a normal vector of the gun trunnion inclined plane, according to the actual pitch angle and the deviation angle of the gun body, acquiring an actual unit direction vector of the gun body, and according to the normal vector of the gun trunnion inclined plane and the actual unit direction vector, acquiring an actual projection vector of the actual gun body on the gun trunnion inclined plane;
acquiring an actual azimuth angle under a gun body coordinate system according to a unit vector of a gun bore axis and the actual projection vector, and acquiring an actual pitch angle under the gun body coordinate system according to the actual unit direction vector and the actual projection vector;
acquiring a target unit direction vector pointed by a gun body target according to the gun body target pitch angle, and acquiring a target projection vector of the target gun body on the gun body tilting plane according to a normal vector of the gun body tilting plane and the target unit direction vector;
and obtaining a target azimuth angle under a gun body coordinate system according to the unit vector of the gun bore axis and the target projection vector, and obtaining a target pitch angle under the gun body coordinate system according to the target unit direction vector and the target projection vector.
4. A method of correcting the setting of a mortar angle as claimed in claim 3, characterized in that the normal vector r1= (0, -sin θ) to the inclined plane of the mortar shaft 2 ，cosθ 2 ) The actual unit direction vector r2= (cos beta 1 cos(-θ 1 )，cosβ 1 sin(-θ 1 )，sinβ 1 ) The actual projection vector r3=r1× (r2×r1), the unit vector r4= (1, 0) of the bore axis, the Said->
The target unit direction vector r5= (cos beta 2 ，0，sinβ 2 ) The target projection vector r6=r1× (r5×r1), theSaid->
Wherein beta is 1 Is the actual pitch angle of the gun body under the geodetic coordinate system, beta 2 Is the pitch angle theta of a gun body target in a geodetic coordinate system 1 As the off angle, θ 2 Is the angle of inclination of the gun trunnion.
5. A correction method for mortar angle setting as claimed in claim 1, wherein said step S30 comprises:
the azimuth correction amount is the difference value between the target azimuth angle of the mortar and the actual azimuth angle of the mortar in the shell coordinate system;
the pitch angle correction is the difference between the target pitch angle of the mortar and the actual pitch angle of the mortar in the hull coordinate system.
6. A method of correcting a setting of a mortar angle as claimed in claim 1, further comprising, performed prior to step S20:
the actual pitch angle of the gun body is measured by an MEMS inclination angle sensor, and the off angle of the axis of the gun bore deviating from the shooting surface and the gun trunnion inclination angle are measured by an auto-collimation angle measuring device.
7. Correction device for setting a mortar angle, characterized in that it is adapted to implement a correction method for setting a mortar angle according to any of claims 1-6, comprising:
the establishing module is used for establishing a gun body coordinate system taking a gun body rotation center as an origin, taking a gun trunnion inclined plane as a reference and a geodetic coordinate system taking the gun body rotation center as the origin and taking a ground plane as a reference;
the processing module is used for converting the mortar target azimuth angle, the mortar target pitch angle, the mortar actual azimuth angle and the mortar actual pitch angle under the geodetic coordinate system into the mortar coordinate system according to the mortar target pitch angle, the mortar actual pitch angle, the mortar trunnion inclination angle and the offset angle of the axis of the gun bore from the shot surface;
the calculation module is used for obtaining an azimuth angle correction amount according to the azimuth angle of the mortar target and the actual azimuth angle of the mortar in the gun body coordinate system, and obtaining a pitch angle correction amount according to the pitch angle of the mortar target and the actual pitch angle of the mortar in the gun body coordinate system.
8. A correction system for mortar angle setting comprising a MEMS tilt sensor, an auto-collimation angle-measuring device, and the correction device for mortar angle setting of claim 7, the MEMS tilt sensor, the auto-collimation angle-measuring device each being in communication with the correction device for mortar angle setting, the MEMS tilt sensor being mounted on a mortar body, the auto-collimation angle-measuring device being mounted on a mortar sight mount;
the MEMS inclination sensor is used for acquiring the actual pitch angle of the gun barrel, and the auto-collimation angle measuring device is used for acquiring the off angle of the axis of the gun barrel deviating from the shooting face and the gun barrel inclination angle.
9. A correction system for mortar angle setting as claimed in claim 8, wherein said auto-collimation angle-measuring device comprises: the device comprises a collimating objective lens, a CMOS area array camera, a beam splitting prism, a cross reticle, a light source, a reflecting mirror and a data processing device, wherein the light source is positioned in the incident direction of the beam splitting prism, the cross reticle is positioned between the light source and the beam splitting prism, the collimating objective lens is positioned in the reflecting direction of the beam splitting prism, the reflecting mirror is positioned in the transmission direction of the collimating objective lens, the cross reticle and the CMOS area array camera are both positioned on the focal plane of the collimating objective lens with equivalent light paths, the reflecting mirror is fixed on the body, and the CMOS area array camera is connected with the data processing device;
the data processing device is used for acquiring the off angle of the axis of the gun bore deviating from the shooting surface and the inclination angle of the gun trunnion according to the image acquired by the CMOS area array camera.
10. Correction system for mortar angle setting according to claim 9, characterized in that the data processing means perform the following steps:
establishing a coordinate system taking electronic division as a reference in an image acquired by a CMOS area array camera;
acquiring coordinates (X) of a cross hair echo of a cross reticle in a current coordinate system CMOS’ ，Y CMOS’ )；
Acquiring initial coordinate position (X) of zero line zero position moment of cross silk back image of cross reticle in direct aiming state CMOS ，Y CMOS )；
Offset angle θ of bore axis from plane of emission 1 ＝(X CMOS’ -X CMOS )/2f；
Gun trunnion inclination angle theta 2 ＝(Y CMOS’ -Y CMOS )/2f；
Where f is the focal length of the collimating objective.
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| CN202310552008.8A CN116499308A (en) | 2023-05-17 | 2023-05-17 | Correction method, correction device and correction system for setting mortar firing angle |
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