针对目前国家军用标准(GJB)方法对火炮炮膛轴线偏离射面的偏离角度测量方法中存在的精度低、效率低、工作人员多、结构分散等问题，提出了一种新型火炮偏离角度的测量方法。方法基于三维(3D)激光雷达空间点三维坐标测量原理，采用火炮身管粘贴标准靶球，通过测量标准靶球空间点的球坐标解算出调炮前后两条空间直线方程，并经空间向量投影，转换为在投影面上进行直线方程的求解，进而求得火炮偏离角，并用微分法进行测量精度分析及计算。分析了该方法的原理、测量过程并与现行GJB方法进行比较，实验数据表明使用该方法对火炮偏离角进行测量的效率和精度都有明显提高。

Aiming at such problems as low accuracy, low efficiency, more operators and disperse structure existing in the measurement of deviation angle of guns using the method in the national military standard, a novel method for the measurement of gun deviation angles is proposed. Based on the principle of measuring three-dimensional (3D) coordinates of a spatial point by the 3D laser radar, standard target balls adhering to the gun barrel are used to solve two spatial linear equations before and after gun adjusting through measuring the spherical coordinates of spatial points of standard target balls. After the projection of space vectors, the equations are transformed to solution of linear equations on the projection plane, thus the gun deviation angle is calculated, and the measurement accuracy is calculated and analyzed by differentiation. The principle and measurement process of the method is compared to that in the national military standard, and the experimental data show that the efficiency and accuracy is improved notably when the proposed method is adopted to measure the gun deviation angle.