CN102230758A - Method and device for testing tracking stability precision during travel of self-propelled gun - Google Patents

Abstract

The invention discloses a method and a device for testing the tracking stability precision during travel of a self-propelled gun, relating to a method and a device for testing the dynamic stability precision of a self-propelled gun, and belonging to the fields of testing technology and automated instrument. The method provided by the invention comprises the following steps of: 1. starting a test and measuring the original location of the self-propelled gun; 2. carrying out a dynamic stability precision test after the measurement of the original location in step 1; 3. carrying out a tracking stability precision test on the self-propelled gun. The method disclosed by the invention can rely on the subtraction between the actual coordinates of the light spots on two targets which are configured front and back and in parallel to eliminate the angle measurement error caused by a translation of the gun body. The front target surface and the back target surface can be used to track the movement of the laser light spots, thus expanding the range of the dynamic stability precision test and realizing a tracking precision test of the self-propelled gun. In addition, the invention provides a device for testing the tracking stability precision during travel of the self-propelled gun, and the device is simple and easy to regulate, operate and install and has low cost.

Description

Between advancing, follows the tracks of by a kind of self-propelled gun lasting accuracy method of testing and device

Technical field

The present invention relates to a kind of self-propelled gun dynamic stability accuracy test method and testing arrangement, belong to the Detection Technology and Automatic Equipment field.

Background technology

Cannon is one of most widely used, equipment amount maximum, lethal strong conventional weapon.The lasting accuracy of self-propelled gun directly reacts the performance of self-propelled gun, and the lasting accuracy of self-propelled gun is high more, and the probability that the target wound is ruined is just big more; It transfers the big gun precision high more, then just can be active when implementing to hit.Therefore, the lasting accuracy of self-propelled gun and accent big gun precision are the guarantees of on the battlefield target effectively being hit.Therefore the lasting accuracy to self-propelled gun is very crucial and requisite with transferring the big gun precision to test.

Along with the science and technology development progress, the development of the measuring technology of self-propelled gun is very rapid, and test automation, intelligent degree improve day by day.Self-propelled gun dynamic stability precision is meant the lasting accuracy of self-propelled gun system gun tube under travel condition, promptly measure gun tube in the orientation to pitching to the actual deflection angle, in the development and production process of self-propelled gun, usually adopt the multi-degree-of-freedom motion platform motion state of simulation self-propelled gun system under varying environment very true to nature, but traditional method of testing is difficult to remove the gun tube translational movement that produces because of the base translation of big gun body.The translation variable quantity is introduced in motion at motion simulator, mostly adopt parallel light tube simulation infinity target at present, thereby significantly reduced the influence of translational movement to lasting accuracy, but the parallel light tube test specification is very little, test process complexity and cost height.The tracking accuracy of self-propelled gun is meant cannon in the precision of a tracking target of advancing, and does not also have relevant testing equipment at present.

Summary of the invention

The objective of the invention is to solve present self-propelled gun dynamic stability accuracy test and be difficult to remove gun tube translational movement and the little problem of test specification that produces because of the base translation of big gun body, following the tracks of lasting accuracy method of testing and device between a kind of self-propelled gun disclosed by the invention is advanced can eliminate the gun tube translational movement effectively and only keep rotation amount, test specification is big, and can realize the test of cannon tracking accuracy.

Following the tracks of the lasting accuracy method of testing between a kind of self-propelled gun disclosed by the invention is advanced is:

Step 1 starts test and carries out the measurement of cannon initial position.

Tested self-propelled gun is placed on the multifreedom motion simulator, be parallel to laser instrument of firepower line fixed installation on the gun tube, the laser beam that sends can form hot spot respectively on the target surface of front and back, cannon transfers big gun after orientation and a certain angle of pitching, target surface moves before and after the control, and the light beam that laser instrument is sent passes through former and later two target surfaces.Obtain the image coordinate of hot spot on two target surfaces by the image processing, and be converted to the actual coordinate on target surface, thereby obtain the initial position of gun tube.

Step 2 after measuring through the initial position of step 1, is carried out the dynamic stability accuracy test.

Start the multifreedom motion simulator, fixed armament gun tube angle is motionless, gather the light spot image of front and back target surface in real time and handle the image coordinate that obtains hot spot, be converted to the actual coordinate on target surface, actual coordinate by hot spot on two targets of the parallel placement in front and back subtracts each other, can eliminate the gun tube translational movement, obtain the cannon gun tube be engraved at this moment orientation and pitching to angle, with last one constantly the angle of gun tube compare can obtain cannon when a certain angle pitching to the orientation to the angular deflection amount, when multifreedom motion simulator during, in the certain hour section, can count the dynamic stability precision of self-propelled gun according to different regular movement.

Step 3, the test of self-propelled gun tracking accuracy.

Set the self-propelled gun fire control system by the fixed curve motion, start the multifreedom motion simulator simultaneously, self-propelled gun gun tube setting in motion, the front and back target surface is followed the tracks of laser facula and is moved, gather the light spot image of front and back target surface in real time and handle the image coordinate that obtains hot spot, be converted to the actual coordinate on target surface, with the set-point of current time compare can obtain self-propelled gun in pitching and orientation to departure, through counting the performance indications such as tracking accuracy of tested self-propelled gun after a while.Because target surface can move in real time before and after in this method of testing, realized a self-propelled gun tracking accuracy test of advancing.

Follow the tracks of self-propelled gun that the lasting accuracy method of testing makes between advancing according to a kind of self-propelled gun of the present invention and follow the tracks of the lasting accuracy testing arrangement between advancing, comprise laser instrument, preceding target surface stand and auxiliary moving device, preceding target surface, front target ccd video camera, back target surface stand and auxiliary moving device, back target surface, back target ccd video camera and control module.Ancillary equipment comprises multifreedom motion analog platform and tested big gun body.

Laser instrument is parallel to the firepower line and is fixed on the gun tube, sends beam of laser in test process, and forms hot spot clearly on the target surface of front and back.By a wireless remote controller control laser instrument break-make.

The removable pair of target surface is placed on the target surface stand position over against gun muzzle, wherein before target surface can guarantee that more clear hot spot imaging also can see through most of light; Back target surface can not cause the surface brightness variation and can form hot spot clearly because of veiling glare.In the test process, the light beam that laser instrument sent imaging on the target surface of front and back respectively.At two target surface edges some spots is arranged respectively, be used for demarcating.

Two table top battle array ccd video cameras, the rear of target surface before and after being placed in respectively, camera lens all towards the direction of target surface, is installed with a fixed angle of altitude, guarantees that target surface is full of the field range of area array camera.Array CCD Camera is taken in real time to target surface, and the image of shooting is transferred in the observing and controlling computer by image pick-up card.

The image transitions that image pick-up card photographs video camera is that digital data transmission is in the observing and controlling computer.

Control module is made up of observing and controlling computer and servo control mechanism controller, and wherein the observing and controlling computer is the core of whole testing device.When initial alignment, the control video camera is taken target surface, discerns and note the coordinate of calibration point on the target surface.Two table top battle array ccd video cameras expose synchronously before and after the control in test process, and to camera acquisition to the target surface light spot image discern and calculate, calculate the true coordinate of hot spot according to the size of the coordinate of calibration point and test zone, thereby calculate the dynamic property of self-propelled gun, and demonstrate test result in real time; Target surface moved before and after the servomotor of target surface was realized before and after the major control of servo control mechanism controller.

The target surface stand is made up of rigid support and auxiliary moving device, wherein auxiliary moving device comprises four servomotors and guide rail and ball-screw, auxiliary moving device is used for before and after the test process about removable target surface, follow the tracks of representation of laser facula up and down moves, to adapt to the test request of different angles and tracking accuracy.Target surface can be followed the tracks of laser facula by auxiliary moving device and moves up and down before and after in the test process, has increased cannon dynamic stability accuracy test scope, has also realized the tracking accuracy test of self-propelled gun simultaneously.

Annexation is between the testing arrangement each several part: tested big gun body is installed on the multifreedom motion simulator; Laser instrument and firepower line parallel are fixed on the gun tube, the laser beam that sends in test process imaging respectively on front target and back target; The front target ccd video camera is installed in preceding target surface rear, back target ccd video camera is installed in target surface rear, back, camera lens is all towards the direction of target surface, install with a fixed angle of altitude, guarantee that target surface is full of the field range of area array camera, in test process, respectively front target and the hot spot on the target of back are taken in real time, and be transferred in the data collecting card by data wire; Data collecting card is installed in the observing and controlling computer, and the image transitions that ccd video camera is taken is that data signal is input in the observing and controlling computer and handles; The synchronous exposure of two ccd video cameras of observing and controlling computer control, and with camera acquisition to image handle the physical location that obtains hot spot on the target surface, finally calculate test result and showing in real time; The target surface stand is used to support front target and back target, wherein preceding target surface is fixed on the front support frame, before controlling by servomotor, transverse and longitudinal guide rail and ball-screw, auxiliary moving device moves up and down about target surface, back target surface is fixed on the support of back, auxiliary moving device is controlled about the target surface of back by servomotor, transverse and longitudinal guide rail and ball-screw and is moved up and down, to adapt to the test request of different angles and tracking accuracy.Simultaneously, the distance between front and back support has fixing point to regulate.

Beneficial effect:

(1) method of testing of the present invention is subtracted each other by the actual coordinate of hot spot on two targets of the parallel placement in front and back, can eliminate the gun tube translational movement, can eliminate the angle measurement error that big gun body translational movement causes;

(2) target surface can be followed the tracks of laser facula by auxiliary moving device and moves up and down before and after the method for testing of the present invention, has increased cannon dynamic stability accuracy test scope, has also realized the tracking accuracy test of self-propelled gun simultaneously;

(3) testing arrangement adjustment of the present invention and simple to operate, be easy to install; Testing arrangement is with low cost.

Description of drawings

A kind of self-propelled gun of Fig. 1 specific embodiment of the invention is followed the tracks of lasting accuracy testing arrangement schematic diagram;

The hot spot Coordinate Conversion schematic diagram of Fig. 2 specific embodiment of the invention;

A kind of self-propelled gun of Fig. 3 specific embodiment of the invention is followed the tracks of lasting accuracy test basic principle figure;

A kind of self-propelled gun tracking accuracy of Fig. 4 specific embodiment of the invention dynamic test schematic diagram;

Wherein: target ccd video camera, 10-control module behind target surface, the 9-behind target surface stand and auxiliary moving device, the 8-behind target surface, 6-front target ccd video camera, the 7-before target surface stand and auxiliary moving device, the 5-before the 1-multifreedom motion simulator, the tested big gun body of 2-, 3-laser instrument, 4-.

The specific embodiment

For objects and advantages of the present invention are described better, further specify below in conjunction with accompanying drawing and self-propelled gun tracking lasting accuracy test case.

Embodiment 1:

Following the tracks of the lasting accuracy method of testing between the disclosed a kind of self-propelled gun of present embodiment is advanced is:

Step 1 starts test and carries out the measurement of cannon initial position.

Testedbig gun body 2 is placed on the multifreedom motion simulator 1, be parallel tolaser instrument 3 of firepower line fixed installation on the gun tube, the laser beam that sends can form hot spot respectively on precedingtarget surface 5 andback target surface 6, cannon transfers big gun after orientation and a certain angle of pitching,target surface 5 andback target surface 6 move before the control, and the light beam that laser instrument is sent passes through former and later two target surfaces.Obtain the image coordinate of hot spot on two target surfaces by the image processing, and be converted to the actual coordinate on target surface, thereby obtain the initial position of gun tube.

Step 2 after measuring through the initial position of step 1, is carried out the dynamic stability accuracy test.

Start multifreedom motion simulator 1, fixed armament gun tube angle is motionless, gather the light spot image of front and back target surface in real time and handle the image coordinate that obtains hot spot, be converted to the actual coordinate on target surface, actual coordinate by hot spot on two targets of the parallel placement in front and back subtracts each other, can eliminate the gun tube translational movement, obtain the cannon gun tube be engraved at this moment orientation and pitching to angle, with last one constantly the angle of gun tube compare can obtain cannon when a certain angle pitching to the orientation to the angular deflection amount, when multifreedom motion simulator 1 during, in the certain hour section, can count the dynamic stability precision of self-propelled gun according to different regular movement.

Step 3, the test of self-propelled gun tracking accuracy.

Set the self-propelled gun fire control system by the fixed curve motion, start multifreedom motion simulator 1 simultaneously, self-propelled gun gun tube setting in motion, the front and back target surface is followed the tracks of laser facula and is moved, gather the light spot image of front and back target surface in real time and handle the image coordinate that obtains hot spot, be converted to the actual coordinate on target surface, with the set-point of current time compare can obtain self-propelled gun in pitching and orientation to departure, through counting the performance indications such as tracking accuracy of tested self-propelled gun after a while.Becausetarget surface 5 andback target surface 6 can move in real time before in this method of testing, realized a self-propelled gun tracking accuracy test of advancing.

Test macro of the present invention is made up of tested antiaircraft gun and testing arrangement.The testing arrangement of making according to method of testing of the present invention as shown in Figure 1, testedbig gun body 2 is installed on the multifreedom motion simulator 1, multifreedom motion simulator 1 is used for simulating the operating mode of self-propelled gun in marching fire;Laser instrument 3 and barrel axis secured in parallel are on gun tube, and the laser beam that is sent in the test process is distinguished imaging on precedingtarget surface 5 andback target surface 8; Target surface is rectangle before and after in the testing arrangement, and wherein front target breadth size is 600 * 500 (mm²), back target breadth is 1000 * 800 (mm²).The circular reference point that 8 black are arranged respectively on the mid point of 4 angles of two target surfaces and four edges.Distance is 1.5m between two targets, and the distance of front target identity distance gun muzzle is 2m.Two target surfaces are separately fixed on the rigid support 4 and 7 of front and back, and control the translation and the lifting of target surface by auxiliary moving device wherein.Front and back target surface battle arrayccd video camera 6 and 9 is installed in the rear of front andback target surface 5 and 8 respectively with a fixed angle of altitude, wherein front target ccd video camera resolution ratio is 659 * 494 pixels, and capture rate was 100 frame/seconds, and lens focus is 8mm, is 60cm to the front target distance; Back target ccd video camera resolution ratio is 1024 * 768 pixels, and capture rate also was 100 frame/seconds, and lens focus is 6mm, is 50cm to the front target distance; Its data-interface mode is the high speed communication interface; The image of gathering is real-time transmitted in the observing and controllingcomputer 10 to be handled.

The groundwork flow process of following the tracks of the lasting accuracy testing arrangement between a kind of self-propelled gun of the present invention is advanced is as follows:

Step 1 starts test and carries out the measurement of cannon initial position.

Cannon accent big gun is controlled the laser instrument of opening on thegun tube 3 by wireless module behind a certain orientation and luffing angle,target surface 5 and 8 moves before and after the control, and the light beam thatlaser instrument 3 is sent passes through the center of former and later twotarget surfaces 5 and 8.Obtain the image coordinate of hot spot on two target surfaces by the image processing, and be converted to the actual coordinate on target surface, thereby obtain the initial position of gun tube.

Becausearea array camera 6 and 9places target surface 5 and 8 rears with a fixed angle of altitude, the image space of calibration point on the front andback target surface 5 and 8 (shown in Fig. 3 a) is not desirable rectangle, but trapezoidal, shown in Fig. 3 b.The computational methods that the image coordinate of hot spot is converted to actual coordinate in the image are as shown in Figure 3: by known reference point, can calculate level to mid point as the auxiliary reference point, connect each mid point, image is divided into 4 zones, shown in Fig. 3 b, and judge hot spot is in which zone of target surface; Secondly,, calculate four summits of hot spot region and the mid point of four edges, shown in Fig. 3 c, calculate this regional centre coordinate again by former 6 calibration points and 2 auxiliary reference points totally 8 points; So carry out interative computation, the center of final area and shell coordinate differ less than certain threshold value or finish during greater than a certain iterations.With the centre coordinate of final area actual coordinate, thereby can calculate the physical location of hot spot on target surface, shown in Fig. 3 d as shell.

Step 2 after measuring through the initial position of step 1, is carried out the dynamic stability accuracy test.

Start multifreedom motion simulator 1, fixed armament gun tube angle is motionless, gather the light spot image of front andback target surface 5 and 8 in real time and handle the image coordinate that obtains hot spot, be converted to the actual coordinate on target surface, obtain the cannon gun tube be engraved at this moment orientation and pitching to angle, according to the principle among Fig. 3 and last constantly the angle of gun tube compare can obtain cannon when a certain angle pitching to the orientation to the angular deflection amount, the dynamic stability precision that can count tested self-propelled gun in the certain hour section comprises performance indications such as the degree of accuracy and closeness.

The key of this method of testing is exactly that actual coordinate by hot spot on two targets of the parallel placement in front and back subtracts each other, and can eliminate the gun tube translational movement, thereby obtain self-propelled gun practical stability precision.With the vertical direction be its principle of example as shown in Figure 4:

$\mathrm{\α}=\arctan \frac{(y_{21}+h_2)-(y_{11}+h_1)}{d}$

${\mathrm{\α}}^{\′}=\arctan \frac{(y_{22}+h_2)-(y_{21}+h_1)}{d}$

Wherein, h₁Be the distance of front target datum line to target surface stand bottom, h₂Be the distance of back target datum line to target surface stand bottom.O is laser instrument position on the initial time gun tube, and α is the angle on the self-propelled gun initial time vertical direction, y₁₁By the laser beam of position o on preceding target surface the one-tenth hot spot to the vertical range of front target datum line, y₂₁By arrive the vertical range of back target datum line at the laser beam of position o institute's one-tenths hot spot on the target surface of back; O ' is a certain moment laser instrument position in the self-propelled gun motion process, and α ' is the angle on this moment vertical direction of self-propelled gun, y₁₂By the laser beam of position o ' on preceding target surface the one-tenth hot spot to the vertical range of front target datum line, y₂₂By arrive the vertical range of back target datum line at the laser beam of position o ' institute's one-tenths hot spot on the target of back; D is the horizontal range between the target surface of front and back.Therefore can draw self-propelled gun gun tube actual deflection angle in vertical direction between position o and o ': Δ α=α '-α.

In like manner can get the deflection angle of horizontal direction.In test process, y₁₁, y₂₁, y₁₂And y₂₂Can obtain h by calculating the physical location of hot spot on target surface₁, h₂Obtain by actual measurement with d,

Step 3, the test of self-propelled gun tracking accuracy.

Set the self-propelled gun fire control system by the fixed curve motion, start multifreedom motion simulator 1 simultaneously, self-propelled gun gun tube setting in motion, front andback target surface 5 and 8 is followed the tracks of laser faculas and is moved, light spot image before and after gathering in real time in thetarget surface 5 and 8 is also handled the image coordinate that obtains hot spot, be converted to the actual coordinate on target surface, with the set-point of current time compare can obtain self-propelled gun in pitching and orientation to departure, through counting the performance indications such as tracking accuracy of tested self-propelled gun after a while.

The tracking accuracy computational methods of self-propelled gun are as shown in Figure 4: suppose the given gun fire control system of current time orientation and pitching to angle be respectively α_HAnd α_V, precedingtarget surface 5 moves to apart from the distance of right frame of front target stand and lower frame with gun tube and is respectively dH_fAnd dV_f,back target surface 8 moves to apart from the distance of right frame of back target stand and lower frame and is respectively dH_bAnd dV_b, can record in real time by corresponding displacement transducer.The current time hot spot is respectively (x at the coordinate of front andback target surface 5 and 8_1f, y_1f), (x_1b, y_1b), then the angular deviation of current time self-propelled gun gun tube is

${{\mathrm{\&Delta;\&alpha;}}_V={\mathrm{\&alpha;}}_V-{\mathrm{\&alpha;}}_V^{\&prime;}=\mathrm{\&alpha;}}_V-\arctan \frac{({\mathrm{<figure-callout\; label="h"\; filenames="HDA0000068808450000011.png"\; state="\{\{state\}\}">h</figure-callout>}}_2+y_{1b}+d{V}_b)-(y_{1f}+d{V}_f)}{d}$

${\mathrm{\&Delta;\&alpha;}}_H={\mathrm{\&alpha;}}_H-{\mathrm{\&alpha;}}_H^{\&prime;}={\mathrm{\&alpha;}}_H-\arctan \frac{(x_{1b}+d{H}_b)-(x_{1f}+d{H}_f)}{d}$

Described the specific embodiment of the present invention though combine accompanying drawing, to those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also make some distortion and improvement, these also should be considered as belonging to protection scope of the present invention.

Claims (6)

Translated fromChinese

1.一种自行火炮行进间跟踪稳定精度测试方法，其特征在于：1. A method for testing the tracking stability accuracy of self-propelled artillery during travel, characterized in that:步骤1，启动测试并进行火炮初始位置测量；Step 1, start the test and measure the initial position of the artillery;被测自行火炮放置在多自由度运动模拟器上，炮管上平行于火力线固定安装一个激光器，发出的激光束可在前后靶面上分别形成光斑，火炮调炮到方位和俯仰某一角度后，控制前后靶面移动，使激光器发出的光束通过前后两个靶面；通过图像处理得到两个靶面上光斑的图像坐标，并转换为靶面上的实际坐标，从而得到炮管的初始位置；The self-propelled artillery to be tested is placed on a multi-degree-of-freedom motion simulator, and a laser is fixedly installed on the barrel parallel to the fire line. The emitted laser beams can form light spots on the front and rear target surfaces respectively, and the artillery is adjusted to a certain angle of azimuth and pitch. Finally, control the movement of the front and rear target surfaces, so that the beam emitted by the laser passes through the front and rear target surfaces; the image coordinates of the light spots on the two target surfaces are obtained through image processing, and converted into actual coordinates on the target surface, so as to obtain the initial position of the gun barrel. Location;步骤2，在经过步骤1的初始位置测量后，进行动态稳定精度测试；Step 2, after the initial position measurement in step 1, perform a dynamic stability accuracy test;启动多自由度运动模拟器，固定火炮炮管角度不动，实时采集前后靶面的光斑图像并进行处理得到光斑的图像坐标，转换为靶面上的实际坐标，通过前后平行放置的双靶上光斑的实际坐标相减，可以消除炮管平移量，得到火炮炮管此时刻在方位和俯仰向的角度，与上一时刻炮管的角度进行比较可获得火炮在某一角度时俯仰向和方位向的角度偏转量，当多自由度运动模拟器按照不同规律运动时，在一定时间段内可统计出自行火炮的动态稳定精度；Start the multi-degree-of-freedom motion simulator, fix the angle of the gun barrel, and collect the spot images of the front and rear target surfaces in real time and process them to obtain the image coordinates of the spot, which are converted into actual coordinates on the target surface. Subtracting the actual coordinates of the light spot can eliminate the translation of the gun barrel, and obtain the azimuth and pitch angles of the gun barrel at this moment, and compare it with the angle of the gun barrel at the previous moment to obtain the pitch and azimuth of the gun at a certain angle When the multi-degree-of-freedom motion simulator moves according to different laws, the dynamic stability accuracy of the self-propelled artillery can be calculated within a certain period of time;步骤3，自行火炮跟踪精度测试；Step 3, self-propelled artillery tracking accuracy test;设定自行火炮火控系统按固定曲线运动，同时启动多自由度运动模拟器，自行火炮炮管开始运动，前后靶面跟踪激光光斑移动，实时采集前后靶面的光斑图像并进行处理得到光斑的图像坐标，转换为在靶面上的实际坐标，与当前时刻的给定值进行比较可得到自行火炮在俯仰和方位向的偏差量，经过一段时间可统计出被测自行火炮的跟踪精度等性能指标。Set the fire control system of the self-propelled artillery to move according to a fixed curve, start the multi-degree-of-freedom motion simulator at the same time, the barrel of the self-propelled artillery starts to move, the front and rear target surfaces track the movement of the laser spot, and the spot images of the front and rear target surfaces are collected in real time and processed to obtain the shape of the spot The image coordinates are converted into actual coordinates on the target surface, and compared with the given value at the current moment, the deviation of the self-propelled artillery in the pitch and azimuth directions can be obtained. After a period of time, the tracking accuracy and other performance of the self-propelled artillery under test can be calculated. index.2.根据权利要求1所述的测试方法制作的自行火炮行进间跟踪稳定精度测试装置，其特征在于：它包括激光器(3)、前靶面台架及辅助移动装置(4)、前靶面(5)、前靶CCD摄像机(6)、后靶面台架及辅助移动装置(7)、后靶面(8)、后靶CCD摄像机(9)和控制模块(10)；外围设备包括多自由度运动模拟器(1)及被测炮体(2)；激光器(3)平行于火力线固定于炮管上；可移动双靶面包括前靶面(5)和后靶面(8)，可移动双靶面安置在靶面台架上正对炮口的位置，其中前靶面(5)能保证有较清晰光斑成像并能透过大部分光线；后靶面(8)不会因杂散光而引起表面亮度变化且能形成清晰的光斑；激光器(3)所发出的光束能分别在前靶面(5)和后靶面(8)上成像；在两个靶面边缘分别有若干个用于标定的点；前靶CCD摄像机(6)和后靶CCD摄像机(9)分别安置在前靶面(5)和后靶面(8)的后方，镜头都朝着靶面的方向，以一定仰角安装，保证靶面充满面阵摄像机的视场范围；前靶CCD摄像机(6)和后靶CCD摄像机(9)分别对前靶面(5)和后靶面(8)进行实时拍摄，拍摄的图像通过图像采集卡传输到测控计算机内；控制模块(10)由测控计算机和伺服机构控制器组成；靶面台架及辅助移动装置分为前靶面台架及辅助移动装置(4)和后靶面台架及辅助移动装置(7)；靶面台架用于支撑前靶面和后靶面，辅助移动装置用于实现测试过程中前靶面(5)和后靶面(8)左右、上下跟踪激光光斑图像移动；2. the self-propelled artillery tracking stability accuracy testing device made according to the test method of claim 1 is characterized in that: it comprises laser (3), front target surface platform and auxiliary moving device (4), front target surface (5), front target CCD camera (6), rear target surface platform and auxiliary mobile device (7), rear target surface (8), rear target CCD camera (9) and control module (10); peripheral equipment includes multiple The degree of freedom motion simulator (1) and the gun body under test (2); the laser (3) is fixed on the gun barrel parallel to the fire line; the movable double target surface includes the front target surface (5) and the rear target surface (8) , the movable double target surfaces are arranged on the target surface platform facing the gun muzzle, wherein the front target surface (5) can ensure a clearer spot image and can pass through most of the light; the rear target surface (8) will not The surface brightness changes due to stray light and can form a clear spot; the beam emitted by the laser (3) can be imaged on the front target surface (5) and the rear target surface (8) respectively; Several points for calibration; the front target CCD camera (6) and the rear target CCD camera (9) are respectively arranged behind the front target surface (5) and the rear target surface (8), and the lenses are all facing the direction of the target surface , installed at a certain elevation angle to ensure that the target surface is full of the field of view of the area array camera; the front target CCD camera (6) and the rear target CCD camera (9) monitor the front target surface (5) and the rear target surface (8) in real time respectively. Shooting, the image of shooting is transmitted in the measurement and control computer by image acquisition card; Control module (10) is made up of measurement and control computer and servomechanism controller; Target surface platform and auxiliary mobile device are divided into front target surface platform and auxiliary mobile device ( 4) and rear target surface stand and auxiliary moving device (7); the target surface stand is used to support the front target surface and the rear target surface, and the auxiliary moving device is used to realize the front target surface (5) and the rear target surface (8) left and right, up and down tracking laser spot image movement;所述的测试装置各部分之间连接关系为：被测炮体(2)安装在多自由度运动模拟器(1)上；激光器(3)与火力线平行固定于炮管上，测试过程中发出的激光束在前靶面(5)和后靶面(8)上分别成像；前靶CCD摄像机(6)安装在前靶面(5)后方，后靶CCD摄像机(9)安装在后靶面(8)后方，镜头都朝着靶面的方向，以一定仰角安装，保证靶面充满面阵摄像机的视场范围；靶面台架及辅助移动装置分为前靶面台架及辅助移动装置(4)和后靶面台架及辅助移动装置(7)；靶面台架用于支撑前靶面(5)和后靶面(8)，辅助移动装置用于实现测试过程中前靶面(5)和后靶面(8)左右、上下跟踪激光光斑图像移动。The connection relationship between the various parts of the test device is: the measured gun body (2) is installed on the multi-degree-of-freedom motion simulator (1); the laser (3) is fixed on the gun barrel in parallel with the fire line, during the test The emitted laser beams are respectively imaged on the front target surface (5) and the rear target surface (8); the front target CCD camera (6) is installed behind the front target surface (5), and the rear target CCD camera (9) is installed on the rear target surface. At the rear of the surface (8), the lenses are all facing the direction of the target surface and installed at a certain elevation angle to ensure that the target surface is full of the field of view of the area array camera; the target surface platform and auxiliary moving device are divided into front target surface platform and auxiliary moving device Device (4) and rear target surface stand and auxiliary moving device (7); the target surface stand is used to support the front target surface (5) and the rear target surface (8), and the auxiliary moving device is used to realize the front target during the test process. The surface (5) and the rear target surface (8) track the movement of the laser spot image left and right, up and down.3.根据权利要求2所述的自行火炮行进间跟踪稳定精度测试装置，其特征在于：所述的靶面台架及辅助移动装置由靶面台架和辅助移动装置组成，靶面台架由刚性支架制成；其中辅助移动装置包括伺服电机、导轨和滚珠丝杠。3. The self-propelled artillery tracking stability accuracy test device according to claim 2, characterized in that: the target surface stand and the auxiliary moving device are made up of the target surface stand and the auxiliary moving device, and the target surface stand is composed of Made of rigid bracket; wherein the auxiliary moving device includes servo motor, guide rail and ball screw.4.根据权利要求2或3所述的自行火炮行进间跟踪稳定精度测试装置，其特征在于：所述的前靶面台架和后靶面台架间的距离通过设在刚性支架上固定点调节。4. according to claim 2 or 3 described self-propelled artillery tracking stability accuracy test device while traveling, it is characterized in that: the distance between the described front target surface platform and the rear target surface platform passes through being located at the fixed point on the rigid support adjust.5.根据权利要求4所述的自行火炮行进间跟踪稳定精度测试装置，其特征在于：所述的控制模块由测控计算机和伺服机构控制器组成，在初始标定时，控制摄像机对靶面进行拍摄，识别并记录下靶面上标定点的坐标；在测试过程中控制前靶CCD摄像机(6)和后靶CCD摄像机(9)同步曝光，并对摄像机采集到的靶面光斑图像进行识别及计算，根据标定点的坐标以及测试区域的尺寸计算出光斑的真实坐标，从而计算出自行火炮的动态性能，并实时显示出测试结果；伺服机构控制器主要控制前靶面(5)和后靶面(8)的伺服电机实现前靶面(5)和后靶面(8)的移动。5. The tracking stability accuracy testing device for self-propelled artillery according to claim 4, characterized in that: the control module is composed of a measurement and control computer and a servo mechanism controller, and controls the camera to shoot the target surface during initial calibration , identify and record the coordinates of the marked points on the target surface; control the synchronous exposure of the front target CCD camera (6) and the rear target CCD camera (9) during the test, and identify and calculate the target surface spot image collected by the camera , calculate the real coordinates of the light spot according to the coordinates of the calibration point and the size of the test area, thereby calculate the dynamic performance of the self-propelled gun, and display the test results in real time; the servo mechanism controller mainly controls the front target surface (5) and the rear target surface The servo motor of (8) realizes the movement of front target surface (5) and rear target surface (8).6.根据权利要求2或3所述的自行火炮行进间跟踪稳定精度测试装置，其特征在于：所述的控制模块由测控计算机和伺服机构控制器组成，在初始标定时，控制摄像机对靶面进行拍摄，识别并记录下靶面上标定点的坐标；在测试过程中控制前靶CCD摄像机(6)和后靶CCD摄像机(9)同步曝光，并对摄像机采集到的靶面光斑图像进行识别及计算，根据标定点的坐标以及测试区域的尺寸计算出光斑的真实坐标，从而计算出自行火炮的动态性能，并实时显示出测试结果；伺服机构控制器主要控制前靶面(5)和后靶面(8)的伺服电机实现前靶面(5)和后靶面(8)的移动。6. The tracking stability accuracy testing device for self-propelled artillery according to claim 2 or 3, characterized in that: the control module is composed of a measurement and control computer and a servo mechanism controller, and controls the camera to align with the target surface during initial calibration. Carry out shooting, identify and record the coordinates of the calibration points on the target surface; control the front target CCD camera (6) and the rear target CCD camera (9) to expose synchronously during the test, and identify the spot image of the target surface collected by the camera and calculation, calculate the real coordinates of the light spot according to the coordinates of the calibration point and the size of the test area, so as to calculate the dynamic performance of the self-propelled gun, and display the test results in real time; the servo mechanism controller mainly controls the front target surface (5) and the rear The servo motor of the target surface (8) realizes the movement of the front target surface (5) and the rear target surface (8).

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