基于PSD 的火炮身管膛线精度测量数据补偿方法

针对火炮身管内部膛线测量技术及自动检测问题，提出一种精度测量数据补偿方法。搭建火炮内膛检测 机器人测量系统。采用激光测距仪对火炮身管阴阳线内径进行测量，使用PSD 激光位置传感器对火炮身管轴线与测 量系统轴线的偏心距离进行测量，分析检测误差产生的原因，推导基于矢量三角法的测量数据精度补偿算法和误差 补偿计算公式，通过补偿前后数据的对比分析，结果表明：该测量补偿方法是有效的，能够解决火炮内膛轴线与机 器人旋转中心不重合产生误差的问题。

Compensation Method for Measurement Data of Rifle Accuracy of Artillery Barrel Based on PSD

Aiming at the measurement technology and automatic detection of the rifling inside the gun barrel, a method of precision measurement data compensation is proposed. The measurement system of artillery bore inspection robot is set up. The laser range finder was used to measure the inner diameter of the yin-yang line of the gun barrel, and the PSD laser position sensor was used to measure the eccentric distance between the axis of the gun barrel and the axis of the measuring system. The causes of the measurement error were analyzed, and the accuracy compensation algorithm and error compensation formula based on the vector trigonometry method were derived. The results show that the measurement and compensation method is effective, and it solves the problem of the error caused by the misalignment of the gun bore axis and the robot rotation center.