全站仪测量自行火炮身管指向的方法改进

Improvement of the method for measuring self-propelled artillery barrel orientation with total station

在实现自行火炮身管指向测量的各类方法中,全站仪测量法综合性能表现良好。但传统全站仪测量身管指向方法存在缺乏北向基准、存在轴线模拟误差的问题,因此提出了一种基于旋转矩阵的全站仪测量自行火炮身管真实指向方法。然后,利用欧拉-罗德里格斯公式推导出标记点连线与真实轴线指向的偏差公式,进而得到了真实指向相对于各观测量的不确定度模型。随后,为了减小测量方法的误差,研究了全站仪最佳布站位置,并基于蒙特卡罗方法原理进行寻优解算。最后,进行了模拟身管实装实验,实验结果表明,最佳布站方式下的测量不确定度在0.1以内,验证了本方法的可行性和准确性,抑制了由于布站方式引起的测量误差。

Among the various methods to realize the self-propelled gun barrel orientation measurement, the total station measurement method has good comprehensive performance. However, the traditional methods of measuring barrel orientation with the total station have the problems of lack of north reference and axis simulation error. Therefore, a method based on a rotation matrix to measure the accurate orientation of the self-propelled artillery barrel with a total station is proposed. Then, the Euler-Rodrigues formula is used to deduce the deviation formula between the line connecting the marked points and the accurate axis orientation. In this way, the uncertainty model of the accurate orientation relative to each observation could be achieved. Then, to reduce the error of the measurement method, the optimal location of the total station is studied, and the optimal solution is implemented based on the principle of the Monte Carlo method. Finally, a simulated barrel installation experiment is carried out. Experimental results show that the measurement uncertainty under the optimal station layout scheme is within 0.1, which evaluate the feasibility and accuracy of this method and suppressed the measurement error caused by the station layout scheme.