CN102707092A - Calibration method for single-beam laser tachymeter based on angular rate table - Google Patents

Abstract

A calibration method for single-beam laser tachymeter based on an angular rate table comprises eight steps as follows: (1) mounting a combined navigation system on the angular rate table, enabling the axial direction of an inertia unit Xb to be parallel with the tangential direction of the angular rate table, adjusting the height of a tool to enable laser beams to be projected to the ground; (2) setting M rotational speed points for the angular rate table, measuring the output of a laser tachymeter and obtaining the average value; (3) enabling the axial direction of an inertia unit Yb to be parallel with the tangential direction of the angular rate table and adjusting the height of the tool to enable the laser beams to be projected to the ground; (4) setting M rotational speed points for the angular rate table, measuring the output of the laser tachymeter and obtaining the average value; (5) enabling the axial direction of an inertia unit Zb to be parallel with the tangential direction of the angular rate table and adjusting the height of the tool to enable the laser beams to be projected to the ground; (6) setting M rotational speed points for the angular rate table, measuring the output of the laser tachymeter and obtaining the average value; (7) calculating the scale factor error and three installation angles of the single-beam tachymeter; and (8) evaluating and analyzing the calibration precision. The method supports the high-precision combined navigation of an inertial navigation system and the single-beam laser tachymeter.

Description

A kind of single beam laser velocimeter scaling method based on the angular speed platform

Technical field:

The present invention relates to be used for a kind of single beam laser velocimeter scaling method of integrated navigation, belong to inertial navigation/integrated navigation technical field based on the angular speed platform.

Background technology:

Laser velocimeter is as a kind of speed pickup, has advantage autonomous fully, that precision is high, the wide ranges that tests the speed, dynamic property reach non-cpntact measurement well.Independent laser velocimeter does not possess navigation locating function, but can have complementary advantages with the inertial navigation system combination, realizes complete autonomous, high precision navigator fix.

Single beam laser velocimeter and inertial navigation constitute integrated navigation system, need to accomplish the demarcation to laser velocimeter before using, comprise the single beam laser velocimeter be used to organize between established angle test and laser velocimeter constant multiplier error testing.The single beam laser velocimeter that is used for the navigator fix field at present in the open source literature does not have unified scaling method; This paper has proposed a kind of based on the single beam laser velocimeter established angle of angular speed platform and the scaling method of constant multiplier error, has solved the underlying issue of single beam laser velocimeter and inertial navigation combined system navigator fix.

Summary of the invention:

1, purpose: the purpose of this invention is to provide a kind of single beam laser velocimeter scaling method based on the angular speed platform; It has overcome the deficiency of prior art, and under laboratory environment, accomplishing to demarcate for the single beam laser velocimeter that is used for integrated navigation provides a new technological approaches.

2, technical scheme: a kind of single beam laser velocimeter scaling method of the present invention based on the angular speed platform, these method concrete steps are following:

Step 1, as shown in Figure 1, the integrated navigation system that single beam laser velocimeter and inertial navigation system are constituted is installed on the single shaft angular speed platform through frock, makes during installation and is used to organize X _bDirection of principal axis is parallel with the tangential direction of angular speed platform, makes the single beam laser velocimeter abut against the edge of angular speed turntable simultaneously, and the height of adjustment frock makes the laser velocimeter laser beam can get to ground.

Step 2, M (predetermined M >=10) angular speed platform rotating speed point of setting, under each rotating speed point, after the angular speed platform slow-roll stabilization, the laser velocimeter of test certain hour (predetermined 5 minutes) is exported also and is averaged.

Step 3, through frock adjustment integrated navigation system towards and the position, make and be used to organize Y _bDirection of principal axis is parallel with the tangential direction of angular speed platform, makes the single beam laser velocimeter abut against the angular speed edge of table simultaneously, and the height of adjustment frock makes the laser velocimeter laser beam can get to ground.

Step 4, M (predetermined M >=10) angular speed platform rotating speed point of setting, under each rotating speed point, after the angular speed platform slow-roll stabilization, the laser velocimeter of test certain hour (predetermined 5 minutes) is exported also and is averaged.

Step 5, through frock adjustment integrated navigation system towards and the position, make and be used to organize Z _bDirection of principal axis is parallel with the tangential direction of angular speed platform, makes the single beam laser velocimeter abut against the angular speed edge of table simultaneously, and the height of adjustment frock makes the laser velocimeter laser beam can get to ground.

Step 6, M (predetermined M >=10) angular speed platform rotating speed point of setting, under each rotating speed point, after the angular speed platform slow-roll stabilization, the laser velocimeter of test certain hour (predetermined 5 minutes) is exported also and is averaged.

Step 7, calculating single beam knotmeter constant multiplier error and three established angles.

Step 8, stated accuracy evaluation analysis.

Wherein, the calculating of three established angles of single beam laser velocimeter constant multiplier sum of errors described in the step 7, concrete implementation procedure explanation are as follows:

If laser velocimeter and the X that is used to organize _bAxle, Y _bAxle, Z _bThe installation angle of axle is respectively α, β, γ, and definition δ K is a laser velocimeter constant multiplier error, when integrated navigation system during at three-dimensional space motion, establishes and is used to organize X _b, Y _b, Z _bThe speed of three change in coordinate axis direction is respectively

The speed of laser speedometer direction is V _L, according to exploded relationship,

With V _LBetween satisfy following relational expression:

$V_L=(1+\mathrm{\δK})(V_x^b\cos \mathrm{\α}+V_y^b\cos \mathrm{\β}+V_z^b\cos \mathrm{\γ})---\left(1\right)$

The laser velocimeter established angle concerns that synoptic diagram sees Fig. 2.

In the step 2, the angular speed platform is at M angular speed point ω _i(i=2 ... When M) playing turntable, be used to organize X _bAxle is parallel with the table top tangent line, is used to organize Y _b, Z _bAxial speed

Be zero.Formula (1) can be simplified as follows:

$V_L=V_x^b\·(1+\mathrm{\δK})\cos \mathrm{\α}---\left(2\right)$

Suppose that integrated navigation system is R apart from angular speed table top centre distance, then at each angular speed platform rotating speed point ω _i(i=2 ... M) be used to organize X under _bAxial speed

Suppose at each angular speed platform rotating speed point ω _i(i=2 ... M) laser velocimeter of test certain hour (predetermined 5 minutes) is exported and is averaged and is respectively V under _L(i) (i=2 ... M).Suppose:

$Z=\left[\begin{array}{c}{V}_L\left(1\right)\\ V_L\left(2\right)\\ \·\\ \·\\ \·\\ V_L\left(M\right)\end{array}\right],$ $H=\left[\begin{array}{c}{V}_x^b\left(1\right)\\ V_x^b\left(2\right)\\ \·\\ \·\\ \·\\ V_x^b\left(M\right)\end{array}\right],$ α'=[(1+δK)cosα]（3）

The least-squares estimation value

that can solve α '=[(1+ δ K) cos α] by the least-squares estimation formula is as follows:

${\widetilde{\mathrm{\α}}}^{,}={\left(H^{T}H\right)}^{-1}{H}^{T}Z---\left(4\right)$

Adopt above-mentioned same computing method, utilize test data in step 4 and the step 6 can calculate the least-squares estimation value of β '=[(1+ δ K) cos β] respectively

And the least-squares estimation value of γ '=[(1+ δ K) cos γ]

By cos ²α+cos ²β+cos ²γ=1 can get:

$\sqrt{{\widetilde{\mathrm{\α}}}^{,2}+{\widetilde{\mathrm{\β}}}^{,2}+{\widetilde{\mathrm{\γ}}}^{,2}}=\sqrt{{(1+\mathrm{\δK})}^2({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β}+{\cos }^2\mathrm{\γ})}---\left(5\right)$

$=1+\mathrm{\δK}$

Therefore have:

$\mathrm{\δK}=\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2}-1---\left(6\right)$

$\mathrm{\α}=\arccos ({\widetilde{\mathrm{\α}}}^{,}/\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2})---\left(7\right)$

$\mathrm{\β}=\arccos ({\widetilde{\mathrm{\β}}}^{,}/\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2})---\left(8\right)$

$\mathrm{\γ}=\arccos ({\widetilde{\mathrm{\γ}}}^{,}/\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2})---\left(9\right)$

The constant multiplier error and the established angle of single beam laser velocimeter like this, have just been calculated by formula (6), (7), (8), (9).Wherein, the stated accuracy evaluation analysis described in the step 8, concrete implementation procedure explanation are as follows:

With each angular speed platform rotating speed point ω that obtains in calibration result δ K, α and the step 2 _i(i=2 ... M) be used to organize X under _bAxial velocity amplitude $V_x^b\left(i\right)=R\·{\mathrm{\ω}}_i(i=2,\·\·\·M)$ The substitution following formula:

${\hat{V}}_L=V_x^b\left(i\right)(1+\mathrm{\δK})\cos \mathrm{\α}---\left(10\right)$

Can obtain a series of velocity amplitudes ${\hat{V}}_L\left(1\right),{\hat{V}}_L\left(2\right)...{\hat{V}}_L\left(M\right);$ Calculate through standard deviation computing formula (11)

With knotmeter real output value V _L(1), V _L(2) ... V _L(M) dispersion degree between:

${\mathrm{\σ}}_1=\sqrt{({[{\hat{V}}_L\left(1\right)-V_L\left(1\right)]}^2+{[{\hat{V}}_L\left(2\right)-V_L\left(2\right)]}^2+\·\·\·+{[{\hat{V}}_L\left(M\right)-V_L\left(M\right)]}^2)/(M-1)}---\left(11\right)$

Adopt same computing method, with each angular speed platform rotating speed point ω that obtains in calibration result δ K, β and the step 4 _i(i=2 ... M) be used to organize Y under _bAxial velocity amplitude $V_y^b\left(i\right)=R\·{\mathrm{\ω}}_i(i=2,\·\·\·M)$ The substitution following formula:

${\hat{V}}_L=V_y^b\left(i\right)(1+\mathrm{\δK})\cos \mathrm{\β}---\left(12\right)$

Can obtain a series of velocity amplitudes

Calculate through standard deviation computing formula (13)

With knotmeter real output value V _L(1), V _L(2) ... V _L(M) dispersion degree between:

${\mathrm{\σ}}_2=\sqrt{({[{\hat{V}}_L\left(1\right)-V_L\left(1\right)]}^2+{[{\hat{V}}_L\left(2\right)-V_L\left(2\right)]}^2+\·\·\·+{[{\hat{V}}_L\left(M\right)-V_L\left(M\right)]}^2)/(M-1)}---\left(13\right)$

Adopt same computing method, with each angular speed platform rotating speed point ω that obtains in calibration result δ K, γ and the step 6 _i(i=2 ... M) be used to organize Z under _bAxial velocity amplitude $V_z^b\left(i\right)=R\·{\mathrm{\ω}}_i(i=2,\·\·\·M)$ The substitution following formula:

${\hat{V}}_L=V_z^b\left(i\right)(1+\mathrm{\δK})\cos \mathrm{\γ}---\left(14\right)$

Can obtain a series of velocity amplitudes

Calculate through standard deviation computing formula (15)

With knotmeter real output value V _L(1), V _L(2) ... V _L(M) dispersion degree between:

${\mathrm{\σ}}_3=\sqrt{({[{\hat{V}}_L\left(1\right)-V_L\left(1\right)]}^2+{[{\hat{V}}_L\left(2\right)-V_L\left(2\right)]}^2+\·\·\·+{[{\hat{V}}_L\left(M\right)-V_L\left(M\right)]}^2)/(M-1)}---\left(15\right)$

At last, calculate total dispersion degree σ in composite type (11), (13), (15) substitution formula (16), judge the degree of accuracy of calibration result thus.

$\mathrm{\σ}=\sqrt{({{\mathrm{\σ}}_1}^2+{{\mathrm{\σ}}_2}^2+{{\mathrm{\σ}}_3}^2)/3}---\left(16\right)$

3, advantage and effect: a kind of scaling method that the present invention relates to be used for the single beam laser velocimeter of integrated navigation based on the angular speed platform; The advantage of this method is to utilize the angular speed platform to combine with certain frock clamp; Accurately test the constant multiplier error and the established angle of single beam laser velocimeter; Accomplish the demarcation of knotmeter, and calibration result is carried out precision judge, for the high-precision integrated navigation of realizing inertial navigation system and single beam laser velocimeter provides support.

Description of drawings

Fig. 1 is single beam laser velocimeter test synoptic diagram;

Fig. 2 is that single beam laser velocimeter established angle concerns synoptic diagram;

Fig. 3 demarcates process flow diagram based on the single beam laser velocimeter of angular speed platform.

Symbol description is following among the figure:

X _b, Y _b, Z _bBe respectively and be used to organize X, Y, Z axle

V is the speed of combined system along the turntable tangential direction

O is the turntable center

R is the distance of turntable center to combined system

ω is the turntable rotational angular velocity

α, β, γ are the knotmeter beam direction and are used to organize X _b, Y _b, Z _bThe angle of axle

V _LSpeed for knotmeter output

is for being used to organize X, Y, the axial speed of Z

Embodiment

See Fig. 3, a kind of single beam laser velocimeter scaling method of the present invention based on the angular speed platform, these method concrete steps are following:

Step 1, as shown in Figure 1, the integrated navigation system that single beam laser velocimeter and inertial navigation system are constituted is installed on the single shaft angular speed platform through frock, makes during installation and is used to organize X _bDirection of principal axis is parallel with the tangential direction of angular speed platform, makes the single beam laser velocimeter abut against the edge of angular speed turntable simultaneously, and the height of adjustment frock makes the laser velocimeter laser beam can get to ground.

Step 2, M (predetermined M >=10) angular speed platform rotating speed point of setting, under each rotating speed point, after the angular speed platform slow-roll stabilization, the laser velocimeter of test certain hour (predetermined 5 minutes) is exported also and is averaged.

Step 3, through frock adjustment integrated navigation system towards and the position, make and be used to organize Y _bDirection of principal axis is parallel with the tangential direction of angular speed platform, makes the single beam laser velocimeter abut against the angular speed edge of table simultaneously, and the height of adjustment frock makes the laser velocimeter laser beam can get to ground.

Step 4, M (predetermined M >=10) angular speed platform rotating speed point of setting, under each rotating speed point, after the angular speed platform slow-roll stabilization, the laser velocimeter of test certain hour (predetermined 5 minutes) is exported also and is averaged.

Step 5, through frock adjustment integrated navigation system towards and the position, make and be used to organize Z _bDirection of principal axis is parallel with the tangential direction of angular speed platform, makes the single beam laser velocimeter abut against the angular speed edge of table simultaneously, and the height of adjustment frock makes the laser velocimeter laser beam can get to ground.

Step 6, M (predetermined M >=10) angular speed platform rotating speed point of setting, under each rotating speed point, after the angular speed platform slow-roll stabilization, the laser velocimeter of test certain hour (predetermined 5 minutes) is exported also and is averaged.

Step 7, calculating single beam knotmeter constant multiplier error and three established angles.

Step 8, stated accuracy evaluation analysis.

Wherein, the calculating of the single beam laser velocimeter constant multiplier sum of errors established angle described in the step 7, concrete implementation procedure explanation are as follows:

If laser velocimeter and the X that is used to organize _bAxle, Y _bAxle, Z _bThe installation angle of axle is respectively α, β, γ, and definition δ K is a laser velocimeter constant multiplier error, when integrated navigation system during at three-dimensional space motion, establishes and is used to organize X _b, Y _b, Z _bThe speed of three change in coordinate axis direction is respectively

The speed of laser speedometer direction is V _L, according to exploded relationship,

With V _LBetween satisfy following relational expression:

$V_L=(1+\mathrm{\δK})(V_x^b\cos \mathrm{\α}+V_y^b\cos \mathrm{\β}+V_z^b\cos \mathrm{\γ})---\left(1\right)$

The laser velocimeter established angle concerns that synoptic diagram sees Fig. 2.

In the step 2, the angular speed platform is at M angular speed point ω _i(i=2 ... When M) playing turntable, be used to organize X _bAxle is parallel with the table top tangent line, is used to organize Y _b, Z _bAxial speed

Be zero.Formula (1) can be simplified as follows:

$V_L=V_x^b\·(1+\mathrm{\δK})\cos \mathrm{\α}---\left(2\right)$

Suppose that integrated navigation system is R apart from angular speed table top centre distance, then at each angular speed platform rotating speed point ω _i(i=2 ... M) be used to organize X under _bAxial speed

Suppose at each angular speed platform rotating speed point ω _i(i=2 ... M) laser velocimeter of test certain hour (predetermined 5 minutes) is exported and is averaged and is respectively V under _L(i) (i=2 ... M).Suppose:

$Z=\left[\begin{array}{c}{V}_L\left(1\right)\\ V_L\left(2\right)\\ \·\\ \·\\ \·\\ V_L\left(M\right)\end{array}\right],$ $H=\left[\begin{array}{c}{V}_x^b\left(1\right)\\ V_x^b\left(2\right)\\ \·\\ \·\\ \·\\ V_x^b\left(M\right)\end{array}\right],$ α'=[(1+δK)cosα]（3）

The least-squares estimation value

that can solve α '=[(1+ δ K) cos α] by the least-squares estimation formula is as follows:

${\widetilde{\mathrm{\α}}}^{,}={\left(H^{T}H\right)}^{-1}{H}^{T}Z---\left(4\right)$

Adopt above-mentioned same computing method, utilize test data in step 4 and the step 6 can calculate the least-squares estimation value of β '=[(1+ δ K) cos β] respectively

And the least-squares estimation value of γ '=[(1+ δ K) cos γ]

By cos ²α+cos ²β+cos ²γ=1 can get:

$\sqrt{{\widetilde{\mathrm{\α}}}^{,2}+{\widetilde{\mathrm{\β}}}^{,2}+{\widetilde{\mathrm{\γ}}}^{,2}}=\sqrt{{(1+\mathrm{\δK})}^2({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β}+{\cos }^2\mathrm{\γ})}---\left(5\right)$

$=1+\mathrm{\δK}$

Therefore have:

$\mathrm{\δK}=\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2}-1---\left(6\right)$

$\mathrm{\α}=\arccos ({\widetilde{\mathrm{\α}}}^{,}/\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2})---\left(7\right)$

$\mathrm{\β}=\arccos ({\widetilde{\mathrm{\β}}}^{,}/\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2})---\left(8\right)$

$\mathrm{\γ}=\arccos ({\widetilde{\mathrm{\β}}}^{,}/\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2})---\left(9\right)$

The constant multiplier error and the established angle of single beam laser velocimeter like this, have just been calculated by formula (6), (7), (8), (9).Wherein, the stated accuracy evaluation analysis described in the step 8, concrete implementation procedure explanation are as follows:

With each angular speed platform rotating speed point ω that obtains in calibration result δ K, α and the step 2 _i(i=2 ... M) be used to organize X under _bAxial velocity amplitude $V_x^b\left(i\right)=R\·{\mathrm{\ω}}_i(i=2,\·\·\·M)$ The substitution following formula:

${\hat{V}}_L=V_x^b\left(i\right)(1+\mathrm{\δK})\cos \mathrm{\α}---\left(10\right)$

Can obtain a series of velocity amplitudes

Calculate through standard deviation computing formula (11)

With knotmeter real output value V _L(1), V _L(2) ... V _L(M) dispersion degree between:

${\mathrm{\σ}}_2=\sqrt{({[{\hat{V}}_L\left(1\right)-V_L\left(1\right)]}^2+{[{\hat{V}}_L\left(2\right)-V_L\left(2\right)]}^2+\·\·\·+{[{\hat{V}}_L\left(M\right)-V_L\left(M\right)]}^2)/(M-1)}---\left(11\right)$

Adopt same computing method, with each angular speed platform rotating speed point ω that obtains in calibration result δ K, β and the step 4 _i(i=2 ... M) be used to organize Y under _bAxial velocity amplitude $V_y^b\left(i\right)=R\·{\mathrm{\ω}}_i(i=2,\·\·\·M)$ The substitution following formula:

${\hat{V}}_L=V_y^b\left(i\right)(1+\mathrm{\δK})\cos \mathrm{\β}---\left(12\right)$

Can obtain a series of velocity amplitudes Calculate through standard deviation computing formula (13)

With knotmeter real output value V _L(1), V _L(2) ... V _L(M) dispersion degree between:

${\mathrm{\σ}}_2=\sqrt{({[{\hat{V}}_L\left(1\right)-V_L\left(1\right)]}^2+{[{\hat{V}}_L\left(2\right)-V_L\left(2\right)]}^2+\·\·\·+{[{\hat{V}}_L\left(M\right)-V_L\left(M\right)]}^2)/(M-1)}---\left(13\right)$

Adopt same computing method, with each angular speed platform rotating speed point ω that obtains in calibration result δ K, γ and the step 6 _i(i=2 ... M) be used to organize Z under _bAxial velocity amplitude $V_z^b\left(i\right)=R\·{\mathrm{\ω}}_i(i=2,\·\·\·M)$ The substitution following formula:

${\hat{V}}_L=V_z^b\left(i\right)(1+\mathrm{\δK})\cos \mathrm{\γ}---\left(14\right)$

Can obtain a series of velocity amplitudes Calculate through standard deviation computing formula (15)

With knotmeter real output value V _L(1), V _L(2) ... V _L(M) dispersion degree between:

${\mathrm{\σ}}_3=\sqrt{({[{\hat{V}}_L\left(1\right)-V_L\left(1\right)]}^2+{[{\hat{V}}_L\left(2\right)-V_L\left(2\right)]}^2+\·\·\·+{[{\hat{V}}_L\left(M\right)-V_L\left(M\right)]}^2)/(M-1)}---\left(15\right)$

At last, calculate total dispersion degree σ in composite type (11), (13), (15) substitution formula (16), judge the degree of accuracy of calibration result thus.

$\mathrm{\σ}=\sqrt{({{\mathrm{\σ}}_1}^2+{{\mathrm{\σ}}_2}^2+{{\mathrm{\σ}}_3}^2)/3}---\left(16\right)$ 。

Claims (3)

1. single beam laser velocimeter scaling method based on the angular speed platform, it is characterized in that: these method concrete steps are following:

Step 1, the integrated navigation system that single beam laser velocimeter and inertial navigation system are constituted are installed on the single shaft angular speed platform through frock, make during installation and are used to organize X _bDirection of principal axis is parallel with the tangential direction of angular speed platform, makes the single beam laser velocimeter abut against the edge of angular speed turntable simultaneously, and the height of adjustment frock makes the laser velocimeter laser beam can get to ground;

Step 2, M angular speed platform rotating speed point of setting, predetermined M >=10, under each rotating speed point, after the angular speed platform slow-roll stabilization, the laser velocimeter of testing 5 minutes is exported and is averaged;

Step 3, through frock adjustment integrated navigation system towards and the position, make and be used to organize Y _bDirection of principal axis is parallel with the tangential direction of angular speed platform, makes the single beam laser velocimeter abut against the angular speed edge of table simultaneously, and the height of adjustment frock makes the laser velocimeter laser beam can get to ground;

Step 4, M angular speed platform rotating speed point of setting, predetermined M >=10, under each rotating speed point, after the angular speed platform slow-roll stabilization, the laser velocimeter of testing 5 minutes is exported and is averaged;

Step 5, through frock adjustment integrated navigation system towards and the position, make and be used to organize Z _bDirection of principal axis is parallel with the tangential direction of angular speed platform, makes the single beam laser velocimeter abut against the angular speed edge of table simultaneously, and the height of adjustment frock makes the laser velocimeter laser beam can get to ground;

Step 6, M angular speed platform rotating speed point of setting, predetermined M >=10, under each rotating speed point, after the angular speed platform slow-roll stabilization, the laser velocimeter of testing 5 minutes is exported and is averaged;

Step 7, calculating single beam knotmeter constant multiplier error and three established angles;

Step 8, stated accuracy evaluation analysis.

2. a kind of single beam laser velocimeter scaling method according to claim 1 based on the angular speed platform; It is characterized in that: the calculating of three established angles of single beam laser velocimeter constant multiplier sum of errors described in the step 7, its concrete implementation procedure is explained as follows:

If laser velocimeter and the X that is used to organize _bAxle, Y _bAxle, Z _bThe installation angle of axle is respectively α, β, γ, and definition δ K is a laser velocimeter constant multiplier error, when integrated navigation system during at three-dimensional space motion, establishes and is used to organize X _b, Y _b, Z _bThe speed of three change in coordinate axis direction is respectively

The speed of laser speedometer direction is V _L, according to exploded relationship,

With V _LBetween satisfy following relational expression:

$V_L=(1+\mathrm{\δK})(V_x^b\cos \mathrm{\α}+V_y^b\cos \mathrm{\β}+V_z^b\cos \mathrm{\γ})---\left(1\right)$

In step 2, the angular speed platform is at M angular speed point ω _i(i=2 ... When M) playing turntable, be used to organize X _bAxle is parallel with the table top tangent line, is used to organize Y _b, Z _bAxial speed

Be zero, formula (1) is simplified as follows:

$V_L=V_x^b\·(1+\mathrm{\δK})\cos \mathrm{\α}---\left(2\right)$

Suppose that integrated navigation system is R apart from angular speed table top centre distance, then at each angular speed platform rotating speed point ω _i(i=2 ... M) be used to organize X under _bAxial speed

Suppose at each angular speed platform rotating speed point ω _i(i=2 ... M) laser velocimeter of testing down 5 minutes is exported and is averaged and is respectively V _L(i) (i=2 ... M); Suppose:

$Z=\left[\begin{array}{c}{V}_L\left(1\right)\\ V_L\left(2\right)\\ \·\\ \·\\ \·\\ V_L\left(M\right)\end{array}\right],$ $H=\left[\begin{array}{c}{V}_x^b\left(1\right)\\ V_x^b\left(2\right)\\ \·\\ \·\\ \·\\ V_x^b\left(M\right)\end{array}\right],$ α=[(1+δK)cosα]（3）

The least-squares estimation value

that solves α '=[(1+ δ K) cos α] by the least-squares estimation formula is as follows:

${\widetilde{\mathrm{\α}}}^{,}={\left(H^{T}H\right)}^{-1}{H}^{T}Z---\left(4\right)$

Adopt above-mentioned same computing method, utilize the test data in step 4 and the step 6 to calculate the least-squares estimation value

of β '=[(1+ δ K) cos β] and the least-squares estimation value of γ '=[(1+ δ K) cos γ] respectively

By cos ²α+cos ²β+cos ²γ=1:

$\sqrt{{\widetilde{\mathrm{\α}}}^{,2}+{\widetilde{\mathrm{\β}}}^{,2}+{\widetilde{\mathrm{\γ}}}^{,2}}=\sqrt{{(1+\mathrm{\δK})}^2({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β}+{\cos }^2\mathrm{\γ})}---\left(5\right)$

$=1+\mathrm{\δK}$

Therefore have:

$\mathrm{\δK}=\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2}-1---\left(6\right)$

$\mathrm{\α}=\arccos ({\widetilde{\mathrm{\α}}}^{,}/\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2})---\left(7\right)$

$\mathrm{\β}=\arccos ({\widetilde{\mathrm{\β}}}^{,}/\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2})---\left(8\right)$

$\mathrm{\γ}=\arccos ({\widetilde{\mathrm{\γ}}}^{,}/\sqrt{{\stackrel{~,}{\mathrm{\α}}}^2+{\stackrel{~,}{\mathrm{\β}}}^2+{\stackrel{~,}{\mathrm{\γ}}}^2})---\left(9\right)$

The constant multiplier error and the established angle of single beam laser velocimeter like this, have just been calculated by formula (6), (7), (8), (9).

3. a kind of single beam laser velocimeter scaling method based on the angular speed platform according to claim 1 is characterized in that:

Stated accuracy evaluation analysis described in the step 8, its concrete implementation procedure is explained as follows:

With each angular speed platform rotating speed point ω that obtains in calibration result δ K, α and the step 2 _i(i=2 ... M) be used to organize X under _bAxial velocity amplitude $V_x^b\left(i\right)=R\·{\mathrm{\ω}}_i(i=2,\·\·\·M)$ The substitution following formula:

${\hat{V}}_L=V_x^b\left(i\right)(1+\mathrm{\δK})\cos \mathrm{\α}---\left(10\right)$

Obtain a series of velocity amplitudes

Calculate through standard deviation computing formula (11)

With knotmeter real output value V _L(1), V _L(2) ... V _L(M) dispersion degree between:

${\mathrm{\σ}}_1=\sqrt{({[{\hat{V}}_L\left(1\right)-V_L\left(1\right)]}^2+{[{\hat{V}}_L\left(2\right)-V_L\left(2\right)]}^2+\·\·\·+{[{\hat{V}}_L\left(M\right)-V_L\left(M\right)]}^2)/(M-1)}---\left(11\right)$

Adopt same computing method, with each angular speed platform rotating speed point ω that obtains in calibration result δ K, β and the step 4 _i(i=2 ... M) be used to organize Y under _bAxial velocity amplitude $V_y^b\left(i\right)=R\·{\mathrm{\ω}}_i(i=2,\·\·\·M)$ The substitution following formula:

${\hat{V}}_L=V_y^b\left(i\right)(1+\mathrm{\δK})\cos \mathrm{\β}---\left(12\right)$

Obtain a series of velocity amplitudes

Calculate through standard deviation computing formula (13)

With knotmeter real output value V _L(1), V _L(2) ... V _L(M) dispersion degree between:

${\mathrm{\σ}}_2=\sqrt{({[{\hat{V}}_L\left(1\right)-V_L\left(1\right)]}^2+{[{\hat{V}}_L\left(2\right)-V_L\left(2\right)]}^2+\·\·\·+{[{\hat{V}}_L\left(M\right)-V_L\left(M\right)]}^2)/(M-1)}---\left(13\right)$

Adopt same computing method, with each angular speed platform rotating speed point ω that obtains in calibration result δ K, γ and the step 6 _i(i=2 ... M) be used to organize Z under _bAxial velocity amplitude $V_z^b\left(i\right)=R\·{\mathrm{\ω}}_i(i=2,\·\·\·M)$ The substitution following formula:

${\hat{V}}_L=V_z^b\left(i\right)(1+\mathrm{\δK})\cos \mathrm{\γ}---\left(14\right)$

Obtain a series of velocity amplitudes

Calculate through standard deviation computing formula (15)

With knotmeter real output value V _L(1), V _L(2) ... V _L(M) dispersion degree between:

${\mathrm{\σ}}_3=\sqrt{({[{\hat{V}}_L\left(1\right)-V_L\left(1\right)]}^2+{[{\hat{V}}_L\left(2\right)-V_L\left(2\right)]}^2+\·\·\·+{[{\hat{V}}_L\left(M\right)-V_L\left(M\right)]}^2)/(M-1)}---\left(15\right)$

At last, calculate total dispersion degree σ in composite type (11), (13), (15) substitution formula (16), judge the degree of accuracy of calibration result thus

$\mathrm{\σ}=\sqrt{({{\mathrm{\σ}}_1}^2+{{\mathrm{\σ}}_2}^2+{{\mathrm{\σ}}_3}^2)/3}.---\left(16\right)$

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