CN101246005B - Device for measuring entity appearance by micro-inertial navigation - Google Patents

Device for measuring entity appearance by micro-inertial navigation Download PDF

Info

Publication number
CN101246005B
CN101246005B CN2008101012496A CN200810101249A CN101246005B CN 101246005 B CN101246005 B CN 101246005B CN 2008101012496 A CN2008101012496 A CN 2008101012496A CN 200810101249 A CN200810101249 A CN 200810101249A CN 101246005 B CN101246005 B CN 101246005B
Authority
CN
China
Prior art keywords
probe
inertial navigation
micro
data
measuring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2008101012496A
Other languages
Chinese (zh)
Other versions
CN101246005A (en
Inventor
房建成
陶冶
马艳武
张海鹏
宋星
乙冉冉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beihang University
Original Assignee
Beihang University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beihang University filed Critical Beihang University
Priority to CN2008101012496A priority Critical patent/CN101246005B/en
Publication of CN101246005A publication Critical patent/CN101246005A/en
Application granted granted Critical
Publication of CN101246005B publication Critical patent/CN101246005B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The invention discloses a substance shape measuring device with micro inertial navigation, which comprises a probe group for shape data collecting, a strapdown inertial navigation system and a data storage; the probe group for shape data collecting consists of a row of stretchable probes with pressure sensors, the strapdown inertial navigation system consists of a micro inertia measuring unit and a navigation computer, implements alignment and then measures one surface of a substance, and further implements the alignment and the measurement till the end, and the substance shape is computed by processing software. The substance shape measuring device with micro inertial navigation has free movement, can measure the internal and external shape of the substance with a convenient posture, and has small volume, convenient operation, low cost and easy application generalization. The substance shape measuring device with micro inertial navigation is applicable for the accurate measurement of the size, shape and mutual position of three-dimensional complicated substances in the field of machinery, construction, aviation, spaceflight, war industry, automobiles and commercial manufacture, etc., particularly for the reverse engineering of various substances.

Description

A kind of device of measuring entity appearance by micro-inertial navigation
Technical field
The invention belongs to the precise measurement technique field, particularly the application technology of micro inertial measurement unit is applicable to the accurate measurement of 3 D complex entity size, profile and mutual alignment in the industries such as machinery, military project, automobile, industry manufacturing.
Background technology
In commercial production and scientific experiment, usually need to carry out three-dimensional position measuring, as the processing of workpiece, accurate installation of part or the like.For the common survey of miniature workpiece, just can finish the measurement of three-dimensional position with general survey instrument, but to large-scale workpiece or precision measurement, common measuring method is often unworkable.For example, in the manufacturing of aircraft wing, need to demarcate the position of each point on the wing, long tens meters of the wing of aircraft has complicated curved-surface structure, calibrates exactly with general survey instrument and measuring method that the three-dimensional position of each point is a very difficult thing on the wing.The method of laser ranging can accurately be finished the measurement of big distance, but this method only is applicable to the one dimension orientation measurement, can't satisfy the needs of three-dimensional measurement.External solution to this problem is a three coordinate measuring machine, and by years of researches, develops into computer numerical control (C C) three coordinate measuring machine by the mechanical type three coordinate measuring machine, and detection mode also works out probe-type and optical profile type two big series.But these three coordinate measuring machines all are the measurement spaces that testee is placed the entity appearance surveying instrument, obtain the coordinate position of each measuring point on the testee, according to the spatial value of these points, obtain physical dimension, profile, position of related features, position and other geometric sense data of testee as calculated.Come from above principle, as can be known, in order accurately to obtain the coordinate position of each measuring point on the testee, stable, accurate, a changeless true origin and coordinate system must be arranged, need guarantee the kinematic accuracy of survey sensor with precision machined mechanical tracks device.Comparatively successful application is in the MTL of Germany turbine engine manufacturing plant, and under the control of a measurement centre, four three coordinate measuring machines are combined, and has born the metering of 28 kinds of complicated precision components of whole automated workshop production.Its outstanding shortcoming be bulky, equipment is complicated, cost is too high.Therefore be not suitable for applying.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiency of existing various entity appearance surveying instruments, a kind of device of measuring entity appearance easily is provided.
Technical solution of the present invention is: a kind of device of measuring entity appearance by micro-inertial navigation, it is characterized in that, and comprise shape data acquisition probe group, strapdown inertial navigation system and data-carrier store; Wherein shape data acquisition probe group is made up of the extensible probe of row's band pressure transducer; Strapdown inertial navigation system is made up of mini inertia measurement unit and navigational computer; Mini inertia measurement unit is made up of three gyroscopes and three micro-acceleration gauges; Navigational computer is made up of A/D conversion and processor.The method that realizes the entity appearance measurement is as follows:
1) starts this measurement mechanism and on slot, carry out initial alignment, be about to first positioning probe and be aligned in P FoPoint is aligned in P with second positioning probe EoPoint is fixed setting position, demarcates gyro zero partially;
2) move this measurement mechanism, make its probe groups slip over measured solid object surface, gather responsive each of each probe pressure transducer and characterize three axial acceleration data of three axial rotation angular velocity datas and this measurement mechanism of accelerometer sensitive of responsive this measurement mechanism of gyroscope in flexible position data of probe and the micro inertial measurement unit;
3) measure a surface of entity after, this measurement mechanism is retracted reference position, be about to first positioning probe and place P again Fo, second positioning probe placed P again EoData in the data-carrier store are passed to PC, make the system and device initialization again, move the next surface measurements of this measurement mechanism then to entity;
4) repeat said process, finish the data acquisition and the measurement of entity all surfaces.
The process that the data of gathering are handled is as follows:
1) according to the flexible position data of each probe of known steric relative position of each probe and collection, calculates t when measuring beginning 0Position vector (the x that fasten in the instrument coordinates of device on each probe summit of the moment by bz b) ';
2) according to t 0The acceleration information of the angular velocity information of constantly little gyro output and micro-acceleration gauge output calculates the position vector (x that device is fastened at the navigation coordinate of slot ny nz n) ' be tied to the posture changing Matrix C that navigation coordinate is with instrument coordinates b n
3) according to (x ny nz n) ' and C b nReach (the x that step 1) is tried to achieve by bz b) ', obtains t 0Position vector (the x of each probe summit of the moment in navigation coordinate system ty tz t) ';
4) from measuring the t of beginning 0Constantly until measuring the t that finishes nConstantly, to each data of measuring constantly all set by step 1)～method in the step 3) handles and can obtain the position vector of all sampled points of solid object surface in navigation coordinate system;
5) on PC, filter out the data that the probe of gathering when probe does not contact solid object surface does not have telescopic variation earlier, adopt modeling software to finish the reconstruct moulding of curved surface then, finally form polyhedron solid object surface model.
Described gyroscope is selected fibre optic gyroscope for use, can also select flexure gyroscope; Described strapdown inertial navigation system can be replaced by gimbaled inertial navigation system; The mode of carrying of described device can be designed to holding type, also can be designed to formula pickaback according to the volume of selecting device for use; Described slot is a rectangular parallelepiped, has P on it FoAnd P EoTwo through holes, P FoAnd P EoBetween distance equal on the device distance between two positioning probes, two positioning probes of device can be inserted in P FoAnd P EoIn setting position is fixed.
Principle of the present invention is: theoretical foundation of the present invention is the strapdown inertial navigation principle.Can solve the position vector (x that the instrument coordinates that is connected on this measurement mechanism ties up to navigation coordinate system by strapdown inertial navitation system (SINS) ny nz n) ' be tied to the posture changing Matrix C that navigation coordinate is with instrument coordinates b n, then according to the position vector (x of this each probe summit of moment in the instrument coordinates system that moves by bz b) ', obtains the position vector (x of each probe summit of this moment in fixing navigation coordinate system ty tz t) ', finishes the reconstruct moulding of curved surface at last with modeling software.
Concrete test philosophy is as follows: during measurement, start this measurement mechanism earlier and carry out initial alignment on slot; Move the surface that this device was brushed tested entity then, tested solid object surface is measured by shape data acquisition probe group.The data that navigational computer acquisition probe and miniature measuring unit are measured are calculated, and can get the position vector (x that the point on the solid object surface is fastened in instrument coordinates from the data of probe measurement by bz bThe data that) ', measures from miniature measuring unit can get the position (x that instrument coordinates ties up to navigation coordinate system ny nz n) ' be tied to the posture changing Matrix C that navigation coordinate is with instrument coordinates b nBy coordinate transform the point on the solid object surface is transformed in the fixing navigation coordinate system at the position vector that the instrument coordinates that moves is fastened and goes.
Conversion formula is:
x t y t z t = x n y n z n + C b n x b y b z b
In the formula: (x by bz b) be the position vector of probe summit in instrument coordinates system;
C b nBe tied to the posture changing matrix of navigation coordinate system for instrument coordinates;
(x ny nz n) ' be measurement mechanism is at the position vector of navigation coordinate system;
(x ty tz tThe position vector of) ' be probe summit in navigation coordinate system.
In chronological order each data of gathering is constantly all carried out above processing, can obtain the position vector of each point of solid object surface, the data after the conversion are existed in the data-carrier store in navigation coordinate system.After one-shot measurement finished, device returned slot the data in the data-carrier store is passed on the PC, makes the system and device initialization again, moved this measurement mechanism then to next surface measurements.After measuring end, utilize the position vector of each data point to adopt modeling software to finish the reconstruct moulding of curved surface, finally form polyhedron solid object surface model.
The present invention's advantage compared with prior art is: the present invention does not need accurate tracks, can do free movement arbitrarily in the space, compared with prior art has the following advantages:
(1) this method at first with the micro-miniature inertial measuring unit application in the precise measurement technique field.
(2) simple in structure, be easy to produce in batches;
(3) with low cost, be suitable for large-scale promotion;
(4) volume is little, and is in light weight, is easy to carry, and motion flexibly, and is easy to operate.
Description of drawings
Fig. 1 forms structural drawing for the present invention;
Fig. 2 is the synoptic diagram of inserting slot construction;
Fig. 3 is for measuring the synoptic diagram of entity;
Fig. 4 is the principle assumption diagram of probe;
Fig. 5 is the strapdown inertial navitation system (SINS) block diagram;
Fig. 6 is circuit theory diagrams.
Embodiment
Structure of the present invention as shown in Figure 1, responsive each of the pressure transducer in the probe characterizes the flexible position data of probe; Three axial rotation angular velocity datas of responsive this measurement mechanism of gyroscope in the micro inertial measurement unit, three axial acceleration data of this measurement mechanism of accelerometer sensitive.The data of navigational computer acquisition probe and miniature measuring unit are calculated, and obtain the position vector that the point on the solid object surface is fastened at fixing navigation coordinate at last, and data are existed in the data-carrier store.The virtual instrument coordinates that is connected with it system is arranged on device, is true origin with its geometric center, and each coordinate axis and device are connected, thereupon motion together.
Described gyroscope is selected fibre optic gyroscope for use, can also select flexure gyroscope; Described strapdown inertial navigation system can be replaced by gimbaled inertial navigation system; The mode of carrying of described device can be designed to holding type, also can be designed to formula pickaback according to the volume of selecting device for use; Described slot is a rectangular parallelepiped, has P on it FoAnd P EoTwo through holes, P FoAnd P EoBetween distance equal on the device distance between two positioning probes, two positioning probes of device can be inserted in P FoAnd P EoIn setting position is fixed.
The present invention is a rectangular parallelepiped to the slot of punctual usefulness as shown in Figure 2, has P on it FoAnd P EoTwo through holes, P FoAnd P EoBetween distance equal on the device distance between two positioning probes, two positioning probes of device can be inserted in P FoAnd P EoIn setting position is fixed, its effect is to the device initial alignment and provides a static position reference when calculating tested entity list millet cake position vector that two positioning probes of device can be inserted in two hole P on the slot FoAnd P EoIn device is fixed.And on slot with P FoP EoThe mid point of line is an initial point, with east orientation, north orientation, day to being three coordinate axis, a virtual navigation coordinate system that is connected with the earth is arranged.
The theory structure of shape data acquisition probe of the present invention as shown in Figure 3, when probe tip 1 contact solid object surface, under the effect of contact pressure, syringe needle 1 applies a pressure for spring 3, spring 3 is shunk, and contact pressure passed to pressure transducer 4, be converted to voltage signal, and spread out of by probe signals interface 5.The position vector of measured point is obtained by the method for detector probe collapsing length.The spacing of probe is very little, can reflect the true profile of measured surface to greatest extent.
The strapdown inertial navigation system block diagram as shown in Figure 4, mini inertia measurement unit has provided motion angular velocity and the acceleration that instrument coordinates ties up to navigation coordinate system.The flexible simulating signal of angular velocity, acceleration and probe enters by the I/O mouth earlier and enters processor by the SPI mouth again after modulus conversion chip transfers digital signal to, calculates the position vector (x that the point on the solid object surface is fastened in instrument coordinates in arm processor earlier by bz b) ' tie up to the position (x that navigation coordinate is with instrument coordinates ny nz n) ' and instrument coordinates be tied to the posture changing Matrix C of navigation coordinate system b n, to carry out coordinate conversion fastens the point on the solid object surface in instrument coordinates position vector then and be transformed into the position vector of fastening at navigation coordinate, the data after will changing are at last deposited in the data-carrier store.
Circuit theory diagrams of the present invention as shown in Figure 5, after the first data input pin AIN0～AIN15 that enters four modulus conversion chip ADS1258 respectively of the position vector that each probe is flexible and the angular velocity of measurement mechanism and analog acceleration signal transfers digital signal to, hold gating to make digital signal enter arm processor by the MISO end of SPI through NPCS0～NPCS3 of ARM.Portion calculates the position vector (x of probe summit in navigation coordinate system within it ty tz t) ' after, the input end SDA that the TWD end of process two-wire interface enters eeprom memory AT24C1024 preserves data.When returning slot after one-shot measurement is finished, by with the RS232 serial ports data being sent on the PC after the MAX3232 level conversion.
Concrete enforcement mainly is divided into profile when measuring measures and data processing two parts, is that tested entity describes with bulb shown in Figure 6, and the step during measurement is:
1) elder generation starts this measurement mechanism and carry out initial alignment on slot.Be about to the P that first positioning probe is inserted in slot FoIn, second positioning probe is inserted in the P of slot EoIn, setting position is fixed.Gather 10 seconds of gyro data, demarcate gyro zero partially;
2) move this measurement mechanism to the surface of tested entity, make its probe groups brush measured solid object surface.Responsive each of navigational computer acquisition probe pressure transducer characterizes three axial acceleration data of three axial rotation angular velocity datas and this measurement mechanism of accelerometer sensitive of responsive this measurement mechanism of gyroscope in flexible position data of probe and the micro inertial measurement unit;
3) measure a surface after, this measurement mechanism retracted be inserted on the slot, be about to first positioning probe and retract and be inserted in P FoIn, second positioning probe retracted be inserted in P EoIn; Data in the data-carrier store are passed to PC by serial ports, make the system and device initialization again, move then this measurement mechanism to next surface measurements until all surface of having surveyed entity.
The step of data processing is:
1), calculates the t when measuring beginning according to the stroke of each probe of known steric relative position of each probe and collection 0Each probe summit of the moment is the position vector (x of this measurement mechanism relatively by bz b) ';
2) according to the t that gathers 0The acceleration information of the angular velocity information of constantly little gyro output and micro-acceleration gauge output calculates the position vector (x of this engraving device under navigation coordinate system ny nz n) ' be tied to the posture changing Matrix C that navigation coordinate is with instrument coordinates b n
3) according to (x ny nz n) ' and C b nReach (the x that step 1) is tried to achieve by bz b) ', carries out coordinate conversion with t 0The position vector that fasten in instrument coordinates on each probe summit of the moment is transformed into the position vector (x in navigation coordinate system ty tz t) ';
4) from measuring the t of beginning 0Constantly until measuring the t that finishes nConstantly, to each data of measuring constantly all set by step 1)～method in the step 3) step handles, and can obtain the position vector of all sampled points of solid object surface in navigation coordinate system;
5) on PC, filter out the data that the probe of gathering when probe does not contact solid object surface does not have telescopic variation earlier, adopt modeling software UG to finish the reconstruct moulding of entity curved surface then, finally form polyhedron solid object surface model with the position vector of putting on the solid object surface.
The present invention can be used as a kind of general profile measurement mechanism, if entity appearance is simple, the data sampling frequency is lower, adopts more advanced processor that the 5th step of data processing is carried out in real time, reaches the effect of " What You See Is What You Get ".To being ins and outs and the principle that inertial navigation and signal Processing insider know, do not elaborate among the present invention.

Claims (5)

1. the device of a measuring entity appearance by micro-inertial navigation is characterized in that, comprises shape data acquisition probe group, strapdown inertial navigation system and data-carrier store; Wherein shape data acquisition probe group is made up of the extensible probe of row's band pressure transducer; Strapdown inertial navigation system is made up of mini inertia measurement unit and navigational computer; Mini inertia measurement unit is made up of three gyroscopes and three micro-acceleration gauges; Navigational computer is made up of A/D conversion and processor, and concrete measuring process is:
(1) starts this measurement mechanism and on slot, carry out initial alignment, be about to first positioning probe and be aligned in P FoPoint is aligned in P with second positioning probe EoPoint is fixed setting position, demarcates gyroscope zero partially;
(2) move this measurement mechanism, make its probe groups slip over measured solid object surface, gather responsive each of each probe pressure transducer and characterize three axial acceleration data of three axial rotation angular velocity datas and responsive this measurement mechanism of micro-acceleration gauge of responsive this measurement mechanism of gyroscope in flexible position data of probe and the micro inertial measurement unit;
(3) measure a surface of entity after, this measurement mechanism is retracted reference position, be about to first positioning probe and place P again Fo, second positioning probe placed P again EoData in the data-carrier store are passed to PC, make the system and device initialization again, move the next surface measurements of this measurement mechanism then to entity;
(4) repeat said process, finish the data acquisition and the measurement of entity all surfaces; The process that the data of the entity all surfaces of described collection and measurement are handled is as follows:
(4.1) according to the flexible position data of each probe of known steric relative position of each probe and collection, calculate t when measuring beginning 0Position vector (the x that fasten in the instrument coordinates of device on each probe summit of the moment by bz b) ';
(4.2) according to t 0The acceleration information of the angular velocity information of constantly little gyro output and micro-acceleration gauge output calculates the position vector (x that device is fastened at the navigation coordinate of slot ny nz n) ' be tied to the posture changing matrix that navigation coordinate is with instrument coordinates
Figure FSB00000250987000011
(4.3) according to (x ny nz n) ' and And step 4.1) (the x that tries to achieve by bz b) ', obtains t 0Position vector (the x of each probe summit of the moment in navigation coordinate system ty tz t) ';
(4.4) from measuring the t of beginning 0Constantly until measuring the t that finishes nConstantly, to each data of measuring constantly all set by step the method in (4.1)～step (4.3) handle and can obtain the position vector of all sampled points of solid object surface in navigation coordinate system;
(4.5) on PC, filter out the data that the probe of gathering when probe does not contact solid object surface does not have telescopic variation earlier, adopt modeling software to finish the reconstruct moulding of curved surface then, finally form polyhedron solid object surface model.
2. the device of measuring entity appearance by micro-inertial navigation according to claim 1, it is characterized in that: described gyroscope is selected fibre optic gyroscope for use, can also select flexure gyroscope.
3. the device of measuring entity appearance by micro-inertial navigation according to claim 1, it is characterized in that: described strapdown inertial navigation system can be replaced by gimbaled inertial navigation system.
4. the device of measuring entity appearance by micro-inertial navigation according to claim 1, it is characterized in that: the mode of carrying of described device can be designed to holding type, also can be designed to formula pickaback according to the volume of selecting device for use.
5. the device of measuring entity appearance by micro-inertial navigation according to claim 1, it is characterized in that: described slot is a rectangular parallelepiped, has P on it FoAnd P EoTwo through holes, P FoAnd P EoBetween distance equal on the device distance between two positioning probes, two positioning probes of device can be inserted in P FoAnd P EoIn setting position is fixed.
CN2008101012496A 2008-03-03 2008-03-03 Device for measuring entity appearance by micro-inertial navigation Expired - Fee Related CN101246005B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2008101012496A CN101246005B (en) 2008-03-03 2008-03-03 Device for measuring entity appearance by micro-inertial navigation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2008101012496A CN101246005B (en) 2008-03-03 2008-03-03 Device for measuring entity appearance by micro-inertial navigation

Publications (2)

Publication Number Publication Date
CN101246005A CN101246005A (en) 2008-08-20
CN101246005B true CN101246005B (en) 2011-02-02

Family

ID=39946590

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2008101012496A Expired - Fee Related CN101246005B (en) 2008-03-03 2008-03-03 Device for measuring entity appearance by micro-inertial navigation

Country Status (1)

Country Link
CN (1) CN101246005B (en)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE0850137A1 (en) * 2008-12-15 2010-04-20 Alignment Systems Ab Device and method for measuring a structure
CN101661047B (en) * 2009-09-29 2011-03-16 哈尔滨工程大学 Output conversion device of strapdown inertial navigation accelerometer
CN101819635A (en) * 2010-04-02 2010-09-01 北京大学软件与微电子学院无锡产学研合作教育基地 Micro-inertial navigation signal and mode recognition-based sign language interpretation method
CN102749004A (en) * 2011-04-19 2012-10-24 新兴重工湖北三六一一机械有限公司 Checking fixture for rapid detection in casting process
CN102571273A (en) * 2011-12-16 2012-07-11 浙江大学 Communication method of inertial navigation system
CN104197957A (en) * 2014-08-25 2014-12-10 哈尔滨工业大学 Micro-gyroscope measurement system and method for measuring zero-bias stability by using system
CN104833790B (en) * 2015-05-06 2016-05-11 黑龙江科技大学 A kind of experiment is caving body device
CN107063043A (en) * 2017-06-12 2017-08-18 北京霹西自动化技术有限公司 Ball screw assembly, journey error detecting system
CN108593539A (en) * 2018-05-21 2018-09-28 崇州天智轻量化制造有限公司 A kind of contact metal semi-solid thixotropic behavior measuring device and its measurement method
CN108709531B (en) * 2018-06-01 2020-07-10 上海航天设备制造总厂有限公司 Flexible device for measuring flatness
CN110487201B (en) * 2019-07-26 2021-08-31 广东天机工业智能系统有限公司 Side hole depth measuring device
CN113483984A (en) * 2021-09-07 2021-10-08 中国空气动力研究与发展中心低速空气动力研究所 Icing wind tunnel test ice shape measuring device and measuring method
CN114148587B (en) * 2022-02-10 2022-04-26 徐州益和木业有限公司 Plate processing material packaging device

Also Published As

Publication number Publication date
CN101246005A (en) 2008-08-20

Similar Documents

Publication Publication Date Title
CN101246005B (en) Device for measuring entity appearance by micro-inertial navigation
CN108801166B (en) Fiber bragg grating wing deformation measurement modeling and calibration method based on cantilever beam theory
CN105651166A (en) Spacecraft product final assembly precision measuring method based on workpiece coordinate system
CN106052595A (en) Three-axis turntable axis perpendicularity detection method based on laser gyro strap-down inertial navigation
CN103852760B (en) A kind of many base measurements method based on rigidity and flexible baseline combination
CN101738203B (en) Optimal position calibration method of static drifting zero and primary acceleration related term error model of flexible gyroscope
CN105157723A (en) Fiber gyro-based strapdown inertial navigation system calibration method
CN106197918A (en) A kind of torsional oscillation test error bearing calibration
CN103792589A (en) Gravitational acceleration measurement device and method
CN110371318A (en) Transfer Alignment based on diplex filter under a kind of dynamic deformation
CN101694390B (en) Ship heave movement measurement method based on optical fiber inertia measurement system
CN106290968A (en) A kind of large space pulsatile flow field three-dimension measuring system and measuring method
CN102087117A (en) Ground measurement method for accuracy of distance measurement sensor for rendezvous and docking of airships
CN1089160C (en) Method for three dimension position measurement using miniature inertia measurement combination
CN107270902B (en) MEMS inertial measurement unit with cross-axis coupling error compensation
CN110207647A (en) A kind of armlet attitude angle calculation method based on complementary Kalman filter
CN110954131B (en) Tool for calibrating misalignment angle of input shaft of fiber-optic gyroscope
CN104297525A (en) Accelerometer calibration method for inertia measurement system on basis of rocket sled test
CN104111063B (en) A kind of Wireless 3 D obliquity sensor based on magnetic field and detection method thereof
CN103868527A (en) Method for calibrating accelerometer units in strapdown inertial combinations
CN102589568B (en) Method for quickly measuring three-axis gyro constant drift of vehicle strapdown inertial navigation system
CN103940444B (en) MIMU (Micro Inertial Measurement Unit) networking type system grade calibration method
CN103267531A (en) Method for high-precision compensation of fiber-optic gyroscope random error
CN103884868A (en) Six-dimensional acceleration acquisition method
CN103323022A (en) Coarse alignment method of angle increment velocity increment strapdown inertial navigation system

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110202

Termination date: 20190303

CF01 Termination of patent right due to non-payment of annual fee