CN112833920A - Photoelectric theodolite operating distance verification method based on star shooting - Google Patents
Photoelectric theodolite operating distance verification method based on star shooting Download PDFInfo
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Abstract
The invention belongs to the technical field of photoelectric measurement, and provides a satellite-shooting-based method for verifying the acting distance of a photoelectric theodoliten(ii) a Calculating MnThe average irradiance of the isostar stars on the target surface of the equipment, and the irradiance of the target on the target surface of the equipment is calculated if ETarget surface≥EStar target surfaceAnd the action distance of the equipment meets the requirement. The method is simple to operate, high in reliability, less limited by terrain, time, measurement and control point positions and the like, and strong in applicability.
Description
Technical Field
The invention belongs to the technical field of photoelectric measurement, and particularly relates to a method for verifying the acting distance of a photoelectric theodolite.
Background
The photoelectric theodolite is an important component of target range measurement and control equipment, can measure the track parameters of aerial flying targets, and has the advantages of simple operation, reliable work, high measurement precision and the like, and the working distance is a main technical index of the photoelectric theodolite.
In the prior art, the photoelectric theodolite equipment of each target range verifies the action distance of the equipment mainly by tracking an actual target and detecting and tracking the maximum distance of the equipment. The method has the following defects: the actual flying times of the target meeting the equipment conditions are less, and the actual verification equipment has less chance of acting distance; the target observation distance is greatly influenced by meteorological conditions, the equipment action distance can be accurately verified only under the better meteorological conditions, and the practical application has certain difficulty.
Disclosure of Invention
The invention aims to provide a method for verifying the working distance of an electro-optic theodolite based on a shooting star, and solves the technical problem that the working distance verification of the electro-optic theodolite is time-consuming and labor-consuming.
In order to achieve the above object and solve the above technical problems, the technical solution of the present invention comprises the following steps:
step 1, moving the photoelectric theodolite to a flat and hard ground, leveling and positioning
Step 2, selecting the star
Selecting n groups of stars with high elevation angles from the position of the stars in the star bank, wherein each group of stars comprises 0 to M starsExtreme limitEquinox, MExtreme limitNot less than the sum of 1 of the limit star and the like which can be observed by the equipment;
step 3, shooting star
Observing and shooting each group of selected stars from 0 star, if the shooting can be observed, selecting the next star and the like for observing and shooting until the photoelectric theodolite can not observe, repeating the steps until the shooting of the selected n groups of stars is completed, and recording the grade of the last observable star of each group of stars as Mn；
Step 4, calculating MnAverage irradiance of the isostar on the target surface of the device
Calculating formula M by stars and the liken＝2.5lg(E0/En) Calculate MnGraded star irradiance EnWherein M isnIn star class, E0Irradiance, E, corresponding to zero iso-starnIs MnIrradiance corresponding to the stars.
By the formula
Calculating to obtain average star irradiance;
by the formula
Calculating the average illumination of the limit target surface which can be detected by the equipment;
wherein E isStar target surfaceLimiting irradiance, E, detectable for the target surfaceAverageThe average irradiance of the limit star body which can be observed by the equipment, tau is the total transmittance of the optical system and the atmosphere,
τ is the relative aperture of the optical systemDevice×τAtmosphere (es)，
Ka is the atmospheric attenuation coefficient on the horizontal plane, alphamThe target atmospheric slope attenuation correction coefficient is obtained, and R is the distance from the target to the target surface of the equipment;
step 5, calculating the irradiance of the target on the target surface of the equipment
According to the formula
Wherein I is the radiation intensity of the target, a specific numerical value is given according to the design requirements of the photoelectric theodolite, l is the distance from the target to the target surface, and the illumination E of the target is obtained by calculationTargetAnd by the formula
Calculating target surface irradiance ETarget surface。
Step 6, comparison ETarget surfaceAnd EStar target surfaceIf E isTarget surface≥EStar target surfaceAnd the action distance of the equipment meets the requirement.
Furthermore, the photoelectric theodolite measurement is divided into a sitting measurement and a non-sitting measurement, wherein the theodolite is mainly leveled in the sitting measurement process, and the non-sitting measurement comprises a vehicle-carrying leveling part and a theodolite leveling part.
Furthermore, the positioning of the photoelectric theodolite is carried out through a global positioning system or a fixed point position measuring azimuth mark.
The invention has the following effective benefits:
1. the invention provides a verification method applicable to the working distance of an electro-optic theodolite.
2. The method is simple to operate, high in reliability, less limited by terrain, time, measurement and control point positions and the like, and strong in applicability.
Drawings
Fig. 1 is a simplified flow chart of a method for verifying the range of a photoelectric theodolite based on a satellite.
Detailed Description
The invention will be explained and explained in detail with reference to the drawings
In order to solve the technical problems, the invention provides a method for verifying the acting distance of the photoelectric theodolite based on shooting stars, which mainly comprises the steps of calculating the radiation illumination reaching the target surface of equipment through the radiation illumination of a star body by a limit star body which can be observed by shooting equipment, and taking the radiation illumination as the limit radiation illumination which can be detected by the equipment; and calculating the radiation illumination reaching the target surface of the equipment after a plurality of distances by using a radiation illumination calculation formula, and verifying whether the equipment acting distance index meets the requirement or not by comparing two illumination values. The factors influencing the irradiance of the target reaching the target surface of the equipment in the method mainly comprise: the target signal intensity, the relative aperture of the optical system, the transmittance and the like, wherein the target signal intensity is a fixed value, the aperture ratio of the optical system is also a fixed value, the transmittance comprises two parts of equipment transmittance and atmospheric transmittance, the equipment transmittance is a fixed value, and the atmospheric transmittance is mainly related to the distance and the pitch angle, so that the distance verification is converted into the radiation illumination comparison reaching the target surface.
The technical scheme of the invention mainly comprises the following steps:
step 1, leveling and positioning the photoelectric theodolite
The invention needs to determine the acting distance of the photoelectric theodolite by shooting stars, wherein the stars are searched by the real-time positions of all stars in a star bank, and the photoelectric theodolite needs to be leveled and positioned for accurately searching the positions of the stars. The method comprises the steps of moving a photoelectric theodolite to a flat and hard ground and leveling and positioning, wherein the measurement of the photoelectric theodolite is divided into two types of sitting measurement and non-sitting measurement, the theodolite is mainly leveled in the sitting measurement process, the non-sitting measurement comprises two contents of vehicle loading leveling and theodolite leveling, and the positioning is mainly performed through a Global Navigation Satellite System (GNSS) or a fixed point position measurement azimuth mark.
Step 2, selecting the star
Because the higher the elevation angle is in the shooting process of the photoelectric theodolite, the smaller the influence of atmospheric refraction is, and the smaller the error generated in the process of obtaining the average value is, the high-elevation-angle star is selected as much as possible for shooting when the star is selected. Selecting n groups of stars with high elevation angle (each group of stars comprises 0 to M stars)Extreme limitEquinox, MExtreme limitNot less than the limit star etc. observable by the device plus 1).
Step 3, shooting star
Shooting and measuring from 0 star, shooting each star and the like one by one according to the step length increment of 1 star and the like (the grade of most stars is not an integer) on the premise that a star library has stars, finding the last star and the like which can be observed by the photoelectric theodolite, and judging the lowest radiation illumination required by the photoelectric theodolite for observing the farthest distance according to the radiation illumination of the last observable star and the like. Observing each group of selected stars from 0 stars, and if the observation can be made, selecting the next star to make observationObserving until the photoelectric theodolite can not observe, repeating the steps until the shooting of the selected n groups of stars is finished, and recording the grade of the last observed star of each group of stars as Mn。
Step 4, calculating MnAverage irradiance of the isostar on the target surface of the device
Because the stars in the star base are not completely the same stars, several stars with similar stars cannot be calculated in the observed limit stars, and the problem can be solved by calculating the average value of the limit stars. Calculating formula M by stars and the liken＝2.5lg(E0/En) Calculate MnGraded star irradiance EnWherein M isnIn star class, E0Irradiance, E, corresponding to zero iso-starnIs MnIrradiance corresponding to the stars.
By the formula
And calculating to obtain the average star irradiance.
By the formula
Ultimate target surface average illumination E capable of being detected by computing equipmentStar target surface(EStar target surfaceLimiting irradiance, E, detectable for the target surfaceAverageThe average irradiance of the limit star body which can be observed by the equipment, tau is the total transmittance of the optical system and the atmosphere,
the relative aperture of the optical system).
τ＝τDevice×τAtmosphere (es)，
(Ka is the atmospheric attenuation coefficient on the horizontal plane, α)mAnd R is the target atmospheric slope attenuation correction coefficient, and R is the distance from the target to the target surface of the equipment).
Step 5, calculating the irradiance of the target on the target surface of the equipment
According to the formula
Wherein I is the radiation intensity of the target, a specific numerical value is given according to the design requirements of the photoelectric theodolite, l is the distance from the target to the target surface, and the illumination E of the target is obtained by calculationTargetAnd by the formula
Calculating target surface irradiance ETarget surfaceStep 6, comparison ETarget surfaceAnd EStar target surfaceIf E isTarget surface≥EStar target surfaceAnd the action distance of the equipment meets the requirement.
Example 1
A450 mm-caliber photoelectric theodolite is developed, and the development requirement is that the working distance to a target with the radiation intensity of 9w/sr is not less than 100km under the conditions that the horizontal visibility of the atmosphere is not less than 20km, the observation elevation angle is not less than 30 degrees, and the root mean square of atmospheric jitter is not more than 2 ".
The target can be equivalent to a point source target at the position of the action limit distance of the photoelectric theodolite, and the radiation flux of the point source target on the photoelectric theodolite is as follows under the theoretical condition
(I is the target radiation intensity 9w/sr, l0The distance from the target to the target surface is 100km, S is the area of the target surface, P is the radiation flux of the target),
then according to
(τ＝τAtmosphere (es)×τDevice,τAtmosphere (es)0.7345 is calculated according to Lowtran calculation, the distance is 100km, and the elevation angle is 30 degrees, so that the radiation illumination E of the target reaching the target surface is calculatedTarget surface＝4.1316×10-11×τDeviceW·m-2。
The extreme star parameters that can be observed by the theodolite are shown in the table below.
| Serial number | Star sign | Stars, etc | Azimuth angle | Pitch angle |
| 1 | 2389656 | 5.07 | 359.7766 | 58.4457 |
| 2 | 2421505 | 5.38 | 353.1563 | 50.2991 |
| 3 | 2362077 | 5 | 332.6418 | 37.8970 |
| 4 | 2338341 | 5.17 | 340.6228 | 64.7006 |
The query shows that the sun year radiation illuminance of Wulu wood qi is 5104.8 multiplied by 106W·m-2The query literature indicates that the air transmission rate of Delaham at 3km is 0.766, the altitude of the Wuluoqi area is lower than that of Delaham, and the air transmission rate at the Delaham is taken as the air transmission rate of the Wualqi area, namely tauWuluqiqi (black-root and Chinese woodruff)＞τWuluqiqi (black-root and Chinese woodruff)′(τWuluqiqi (black-root and Chinese woodruff)Simulating the atmospheric transmission rate, tau, in Wulu-woodlevel areas using the atmospheric transmission rate of DelamWuluqiqi (black-root and Chinese woodruff)' is the actual atmospheric transmittance in Wulu-woodlevel areas), according to the formula
Knowing tauWuluqiqi (black-root and Chinese woodruff)The calculated star body radiation illumination is larger than the radiation illumination calculated by adopting the atmospheric transmittance of the actual Wulu wood level, and when the value is adopted, the value is tauWuluqiqi (black-root and Chinese woodruff)When satisfy ETarget surface≥EStar target surfaceThen take τWuluqiqi (black-root and Chinese woodruff)' this condition is satisfied according to
And
can calculate the average radiation illumination E of the star observed by the photoelectric theodoliteStar target surface＝2.718×10-12×τDeviceW·m-2。
Since the equipment is not changed and the transmissivity of the information collecting equipment is the same, ETarget surface＞EStar target surfaceTherefore, the following can be concluded from the above calculation results: the photoelectric theodolite meets the requirement of the action distance index.
Claims (3)
1. A method for verifying the acting distance of an electro-optic theodolite based on shooting stars is characterized by comprising the following steps:
step 1, moving the photoelectric theodolite to a flat and hard ground, leveling and positioning
Step 2, selecting the star
Selecting n groups of stars with high elevation angles from the position of the stars in the star bank, wherein each group of stars comprises 0 to M starsExtreme limitEquinox, MExtreme limitNot less than the sum of 1 of the limit star and the like which can be observed by the equipment;
step 3, shooting star
Observing and shooting each group of selected stars from 0 star, if the shooting can be observed, selecting the next star and the like for observing and shooting until the photoelectric theodolite can not observe, repeating the steps until the shooting of the selected n groups of stars is completed, and recording the grade of the last observable star of each group of stars as Mn；
Step 4, calculating MnAverage irradiance of the isostar on the target surface of the device
Calculating formula M by stars and the liken＝2.5lg(E0/En) Calculate MnGraded star irradiance EnWherein M isnIn star class, E0Irradiance, E, corresponding to zero iso-starnIs MnIrradiance corresponding to the stars.
By the formula
Calculating to obtain average star irradiance;
by the formula
Calculating the average illumination of the limit target surface which can be detected by the equipment;
wherein E isStar target surfaceLimiting irradiance, E, detectable for the target surfaceAverageThe average irradiance of the limit star body which can be observed by the equipment, tau is the total transmittance of the optical system and the atmosphere,
is a phase of an optical systemFor aperture, τ ═ τDevice×τAtmosphere (es)，
Ka is the atmospheric attenuation coefficient on the horizontal plane, alphamThe target atmospheric slope attenuation correction coefficient is obtained, and R is the distance from the target to the target surface of the equipment;
step 5, calculating the irradiance of the target on the target surface of the equipment
According to the formula
Wherein I is the radiation intensity of the target, a specific numerical value is given according to the design requirements of the photoelectric theodolite, l is the distance from the target to the target surface, and the illumination E of the target is obtained by calculationTargetAnd by the formula
Calculating target surface irradiance ETarget surface；
Step 6, comparison ETarget surfaceAnd EStar target surfaceIf E isTarget surface≥EStar target surfaceAnd the action distance of the equipment meets the requirement.
2. The method for verifying the acting distance of the photoelectric theodolite based on the satellite is characterized in that the photoelectric theodolite measurement is divided into a sitting measurement and a non-sitting measurement, wherein the theodolite is mainly leveled in the sitting measurement process, and the non-sitting measurement comprises a vehicle loading leveling part and a theodolite leveling part.
3. The method for verifying the range of an electro-optic theodolite based on a satellite as claimed in claim 1, wherein the electro-optic theodolite is positioned by a global positioning system or by a fixed point position measuring azimuth mark.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160073845A (en) * | 2014-12-17 | 2016-06-27 | 한국항공우주연구원 | Device and method for calibration of high resolution electro optical satellite |
| CN109827541A (en) * | 2019-03-06 | 2019-05-31 | 中国科学院光电技术研究所 | A method of improving the more electro-optic theodolite mutual designation precision to cooperate |
| CN111811538A (en) * | 2020-07-08 | 2020-10-23 | 中国人民解放军63660部队 | Photoelectric theodolite directional calibration method based on common stars |
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- 2021-03-30 CN CN202110341008.4A patent/CN112833920B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160073845A (en) * | 2014-12-17 | 2016-06-27 | 한국항공우주연구원 | Device and method for calibration of high resolution electro optical satellite |
| CN109827541A (en) * | 2019-03-06 | 2019-05-31 | 中国科学院光电技术研究所 | A method of improving the more electro-optic theodolite mutual designation precision to cooperate |
| CN111811538A (en) * | 2020-07-08 | 2020-10-23 | 中国人民解放军63660部队 | Photoelectric theodolite directional calibration method based on common stars |
Non-Patent Citations (2)
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| 张同双, 李清军, 沈湘衡: "提高海上白天测星能力的方法研究", 光学精密工程, no. 03 * |
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