CN101949711A - Device and method for detecting dynamic angle measurement precision of large-sized photoelectric theodolite - Google Patents

Device and method for detecting dynamic angle measurement precision of large-sized photoelectric theodolite Download PDF

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CN101949711A
CN101949711A CN 201010261525 CN201010261525A CN101949711A CN 101949711 A CN101949711 A CN 101949711A CN 201010261525 CN201010261525 CN 201010261525 CN 201010261525 A CN201010261525 A CN 201010261525A CN 101949711 A CN101949711 A CN 101949711A
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target
angle
mirror
beam
large
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CN101949711B (en
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卓仁善
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中国科学院长春光学精密机械与物理研究所
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Abstract

The invention discloses a device and a method for detecting dynamic angle measurement precision of a large-sized photoelectric theodolite, and belongs to the technical field of photoelectric observation equipment. The device comprises a collimated light tube, a rotary support arm, a rotary shaft, a right-angled reflector, a large reflector, an angle seat, a shaft angle encoder, a drive motor, a turning reflector, a target pedestal, a common platform, a record sensor, a sensor adjusting mechanism and a data storage and processing module. The method comprises the following steps of: separating a beam of light from the last stage of a target working light path by adopting two reflectors, guiding the light to the back of a target by passing through the rotary support arm, transforming large-angle motion of the light beam into small-angle motion through the turning reflector fixed at the tail end of the rotary shaft, receiving the formed image by adopting the record sensor so as to record the real-time change condition of the target light beam, and processing the recorded data through the data storage and processing module so as to acquire the dynamic precision of the target. The device and the method can record and measure the change of the motion parameters of the dynamic target in real time, and can be used for measuring the dynamic precision of the theodolite.

Description

大型光电经纬仪动态测角精度的检测装置及方法 Large photodetecting apparatus and method for dynamic angle measurement accuracy theodolite

技术领域 FIELD

[0001] 本发明属于光电观测设备技术领域,涉及一种大型光电经纬仪动态测角精度的检测装置及方法。 [0001] The present invention belongs to the field of photovoltaic technology observation apparatus, relates to apparatus and method for detecting an angle measuring accuracy of large dynamic theodolite.

背景技术 Background technique

[0002] 大型光电经纬仪是用于人造卫星等空间目标运动参数的观测设备,与雷达等测量手段相比它具有测量精度高、可实时成像等特点,尤其以测量精度高著称。 [0002] Large theodolite apparatus for an observation target space such as an artificial satellite motion parameters, as compared with the radar measuring means having a high accuracy, real-time imaging characteristics, especially high measurement accuracy is known. 在以摄影记录为主要测量手段的第一、二代经纬仪上,作为辅助配置的电视传感器的测角精度是通过与摄影系统比对的方法来确定的,它的优点是检测架上的目标光管方位可以用高精度的莱卡经纬仪确定,因此检测结果可信度高。 On the first and second generations recorded as the theodolite photography primary means of measurement, angle measurement accuracy as television auxiliary sensor configuration is determined by the ratio of the imaging system and a method of, has the advantage that detection target light shelves tube position may be determined with high precision theodolite Lycra, the detection result of high reliability. 随着CCD成像器件的发展,经纬仪上的传感器已由电视摄像机取代了摄影记录系统,它具有可视性强、操作方便的优点,但电视传感器的精度检测已不能再采用与摄影系统比对的方法。 With the CCD imaging device, the sensor on the television camera has been substituted with a theodolite photographic recording system which has a strong visibility, convenient operation, but the accuracy of the sensor can not detect the TV and then using the alignment camera system method.

[0003] 与本发明最为接近的已有技术是中国科学院长春光学精密机械与物理研究所研制的可以进行跟踪精度测量的光学靶标,如图1所示,该光学靶标包括支架1、准直光管2、 反射镜3、反射镜压板4、旋转支臂5、精密滚动轴承6、支撑座7、转轴8、联轴节9和电机10。 [0003] The present invention is closest prior art, Changchun Institute of Precision Mechanics, CAS developed physical optics may be optically tracking a target accuracy of the measurement, shown in Figure 1, the optical target comprises a bracket 1, the collimated light tube 2, the mirror 3, the mirror platen 4, the rotary arm 5, precision roller 6, the support base 7, shaft 8, 9 and a motor coupling 10. 准直光管2安装在旋转支臂5的一端,在旋转支臂5的另一端通过反射镜压板4固定有反射镜3,准直光管2射出的光束经反射镜3反射后发生折转,旋转支臂5上固定有转轴8,转轴8通过精密滚动轴承6与支撑座7连接,电机10通过联轴节9将动力传递给转轴8。 Beam collimator 2 is mounted at one end of the rotary arm 5 is at the other end of the rotary arm 5 by a mirror pressure plate 4 is fixed to the mirror 3, 2 emitted from the collimator of the folding occurs after reflection mirror 3 fixed to the rotary shaft arm 58, connected to shaft 8 by precision rolling bearing 7 and the supporting base 6, the motor 10 is transmitted to the power shaft 8 via coupling 9. 在电机10驱动下,旋转支臂5旋转,反射后的光束包络出圆锥曲面,引导经纬仪11作跟踪运动。 Driven by the motor 10, the rotary arm 5 is rotated, the reflected beam envelope bag a cone surface, the guide 11 and track the movement of the theodolite.

[0004] 目前,靶标存在的问题是:由于靶标引导光束方位的动态精度不能确定,现有靶标只能用于经纬仪的跟踪精度测量,不能用于经纬仪动态测角精度的检测。 [0004] Currently, there is a problem target: dynamic accuracy because the guide beam target position can not be determined, the prior target tracking accuracy of the measurement can only be used theodolites can not be used to detect dynamic angle measurement accuracy of the theodolite. 因此,寻求光学动态靶标精度的确定方法是急待解决的问题。 Thus, an optical method for determining dynamic target the accuracy sought is pressing problem.

发明内容 SUMMARY

[0005] 为了解决现有靶标由于引导光束方位的动态精度不能确定,从而不能用于经纬仪动态精度测量的问题,本发明提供一种大型光电经纬仪动态测角精度的检测装置及方法。 [0005] In order to solve the conventional dynamic accuracy since the guide target beam position can not be determined, so that the problem can not be used dynamically theodolite measurement accuracy, the present invention provides an apparatus and method for detecting a large photoelectric angle measuring dynamic precision theodolite.

[0006] 本发明解决技术问题所采用的技术方案如下: [0006] Solving the Problems The present invention adopts the following technical solution:

[0007] 大型光电经纬仪动态测角精度的检测装置,包括准直光管、反射镜压板、旋转支臂、精密滚动轴承、回转轴、直角反射镜、大反射镜、角度座、轴角编码器、驱动电机、折转反射镜、折转反射镜座、靶标基座、公用平台、记录传感器、传感器调整机构和数据存储及处理模块,准直光管固定在旋转支臂的一端;旋转支臂上开设有通光窗口,旋转支臂的另一端固定有角度座;大反射镜通过反射镜压板固定在角度座上,直角反射镜胶接在大反射镜上; 回转轴固定在旋转支臂的中部,并通过精密滚动轴承套在靶标基座的轴承安装孔内,形成回转轴系;驱动电机和轴角编码器套在靶标基座内,并与回转轴连接;折转反射镜通过折转反射镜座固定在回转轴的末端;靶标基座固定在公用平台上;记录传感器固定在传感器调整机构上,传感器调整机构固定在 [0007] Large theodolite dynamic measuring angle detection device accuracy, comprising a collimator, a mirror platen, the rotation arm, precision bearings, the rotary shaft, at right angles to the mirror, a large mirror, the angle of the seat, the shaft angle encoder, a drive motor, folding mirrors, folding mirrors holder, the target base, common platform, recording sensor, a sensor adjustment means and a data storage and processing module, the collimator secured to one end of the rotary arm; the rotation support arm defines a light through the window, the other end of the rotary arm fixed to the seat angle; large mirror by a mirror base platen fixed at an angle, right angle mirror glued over a large mirror; rotation of the rotary shaft is fixed in the middle of the arm , by precision roller bearings set in the target base mounting hole formed rotation shaft; and a drive motor shaft encoder sets a target in the base and connected to the rotation shaft; folding mirrors by folding mirrors holder fixed to the end of the rotary shaft; target base is fixed on a common platform; recording sensor is fixed on the sensor adjustment mechanism, the adjustment mechanism is fixed to the sensor 用平台上;数据存储及处理模块通过电缆与记录传感器连接,数据存储及处理模块固定在公用平台上。 A platform; data storage and processing module connected to the sensor through a cable to the recording, processing and data storage module is fixed on a common platform.

[0008] 大型光电经纬仪动态测角精度检测装置的使用方法,包括如下步骤: [0008] The method of using a large dynamic angle measurement accuracy theodolite detection device, comprising the steps of:

[0009] 步骤一、通过准直光管发出光束,并使该光束同时照射在大反射镜和直角反射镜上; [0009] Step a, the collimator emits a light beam, and a large mirror and a corner cube mirrors in the illumination beam simultaneously;

[0010] 步骤二、通过调整靶标基座,使经过大反射镜反射的光束形成目标光束,利用目标光束引导经纬仪进行工作; [0010] Step two, by adjusting the target base so that the large reflecting mirror through the beam target beam forming, beam steering theodolite with the target work;

[0011] 步骤三、通过直角反射镜反射的光束形成检测用光束,检测用光束通过通光窗口穿过旋转支臂,照射在折转反射镜上,通过调整传感器调整机构,使经过折转反射镜反射的检测光束由记录传感器接收并成像; [0011] Step three, at right angles by the mirror reflected light beam detected by the light beam is formed, the detection light beam passes through the rotating arm through a through window light is irradiated on the folding mirror, by adjusting the sensor adjustment mechanism, so that after folding reflector detecting light reflected by the mirror and received by the recording image sensor;

[0012] 步骤四、将驱动电机通电,通过驱动电机带动旋转支臂转动,使目标光束的运动轨迹包络出一圆锥曲面,经纬仪在此光束引导下作方位、俯仰的变规律运动;与此同时,通过回转轴带动折转反射镜转动,使检测光束作小角度的运动,记录传感器以脱靶量形式实时记录该光束的位置; [0012] Step four, the drive motor is energized, the motor is rotated by the driving arm is rotated, so that the object beam trajectory envelope of the cone surface a theodolite beam guidance in this transformation rule mainly as position, pitch movement; this Meanwhile, the rotary shaft driven by the folding mirrors is rotated, so that the beam for detecting motion of a small angle, in order to record the miss distance sensor in the form of real time recording position of the light beam;

[0013] 步骤五、通过电缆将上述脱靶量数据传输给数据存储及处理模块,数据存储及处理模块对该数据进行处理,将经纬仪对目标光束的测量数据与目标光角束标定值相比较, 完成经纬仪对动态测角精度的检测。 [0013] Step five, the above-described off-target amount of data transferred to the data storage and processing module, data storage and processing module processes the data through the cable, the theodolite target beam measurement data is compared with the target light angle beam calibration value, theodolite for detecting the completion of the dynamic angle measurement accuracy.

[0014] 本发明的有益效果是:能够实时测量动态靶标的运动参数的变化,可用于经纬仪动态精度的测量。 Advantageous Effects [0014] The present invention is: capable of measuring in real time the dynamics of target motion parameters, can be used to measure the dynamic precision theodolite.

附图说明 BRIEF DESCRIPTION

[0015] 图1是现有技术用于跟踪精度测量的光学靶标结构示意图。 [0015] FIG. 1 is a schematic view of an optical structure in the prior art for a target tracking accuracy of the measurement.

[0016] 图2是本发明大型光电经纬仪动态测角精度的检测装置示意图。 [0016] FIG. 2 is a schematic view of a large angle measurement accuracy of photoelectric theodolite dynamic detection apparatus according to the present invention.

[0017] 图中:1、支架,2、准直光管,3、反射镜,4、反射镜压板,5、旋转支臂,6、精密滚动轴承,7、支承座,8、转轴,9、联轴节,10、电机,11、经纬仪,12、回转轴,13、直角反射镜,14、大反射镜,15、角度座,16、通光窗口,17、轴角编码器,18、驱动电机,19、检测用光束,20、折转反射镜,21、折转反射镜座,22、检测光束,23、支撑架,24、靶标固紧机构,25、角度调整机构, 26、公用平台,27、记录传感器,28、三维调整座,29、丝杠,30、螺母,31、防转螺钉,32、底座, 33、电缆,34、数据存储及处理模块,35、目标光束,36、底座中心孔,37、丝杠长槽。 [0017] FIG: 1, the holder 2, the collimator 3, a mirror 4, a mirror pressure plate 5, the rotating arm, 6, precision rolling, 7, bearing seat, 8, the rotating shaft 9, coupling 10, motor 11, theodolite, 12, the rotary shaft 13, right angle mirror 14, a large mirror 15, the angle of the seat 16, through the optical window 17, rotary encoder 18, the driving motor, 19, the detection beam 20, folding mirrors 21, folding reflector holder 22, the detection beam 23, the support frame 24, the target fastening means 25, the angle adjustment mechanism 26, common platform 27, a recording sensor 28, a three-dimensional adjustment base 29, screw 30, nut 31, anti-rotation screw 32, a base 33, cable 34, data storage and processing module 35, object beam 36, pedestal central hole 37, the screw trough.

具体实施方式 Detailed ways

[0018] 下面结合附图对本发明作进一步详细说明。 [0018] The following figures of the present invention will be further described in detail in conjunction.

[0019] 如图2所示,本发明大型光电经纬仪动态测角精度的检测装置包括:能够产生代表无穷远目标光束的准直光管2、回转轴12、旋转支臂5、直角反射镜13、大反射镜14、角度座15、反射镜压板4、通光窗口16、精密滚动轴承6、轴角编码器17、驱动电机18、折转反射镜20、折转反射镜座21、靶标基座、公用平台或地基26、记录传感器27、传感器调整机构、电缆33、数据存储及处理模块34 ;所述靶标基座包括支撑架23、靶标固紧机构24和角度调整机构25,支撑架23通过靶标固紧机构24和角度调整机构25固定在公用平台26上;所述传感器调整机构包括三维调整座28、丝杠29、螺母30、防转螺钉31、底座32、丝杠长槽37和底座中心孔36,所述记录传感器27固定在三维调整座28上,三维调整座28固定在丝杠29 的一端,丝杠29另一端旋入螺母30内,防转螺钉31固定在底座32上,防转螺 [0019] 2, the present invention is large dynamic angle measurement accuracy theodolite detecting apparatus comprising: a target capable of generating a light beam representative of infinity collimator 2, the rotary shaft 12, the rotary arm 5, right angle mirror 13 large mirror 14, the angle of seat 15, a mirror pressure plate 4, through an optical window 16, precision rolling bearing 6, shaft encoder 17, a drive motor 18, the folding mirror 20, folding mirrors seat 21, the target base , foundation or common platform 26, the sensor 27 records, sensor adjustment mechanism, cable 33, data storage and processing module 34; the target base includes a support frame 23, the target means 24 and the fastening angle adjusting mechanism 25, the support frame 23 by target fastening mechanism 24 and the angle adjusting mechanism 25 is fixed on a common platform 26; the sensor comprises a three-dimensional adjustment base adjusting mechanism 28, screw 29, nut 30, anti-rotation screw 31, a base 32, long grooves 37 and the base screw central bore 36, the sensor 27 is fixed to the recording three-dimensional adjustment base 28, the three-dimensional adjustment base 28 fixed to one end of the screw 29, the other end of the lead screw 29 screwed into the nut 30, anti-rotation screw 31 fixed to the base 32, anti-rotation screw 31的一端插入丝杠长槽37内,螺母30通过底座中心孔36与底座32连接。 One end of the long screw 31 is inserted into the groove 37, the nut 30 through the center hole 32 of the base 36 is connected to the base.

[0020] 准直光管2固定在旋转支臂5的一端,旋转支臂5另一端的角度座15上安装有大反射镜14,由准直光管2发出的光束同时照射在大反射镜14和直角反射镜13上,经大反射镜14反射的光束形成引导经纬仪11工作的目标光束35 ;而经直角反射镜13反射的检测用光束19通过通光窗口16穿过旋转支臂5,照射在折转反射镜20上,经折转后的检测光束22的角度得到调整,转化为小角度运动,检测光束22由记录传感器27接收,用于误差检测。 [0020] The collimator 2 secured to one end of the rotary arm 5, mounting the other end of the swivel arm 5 angle seat 15 with a large mirror 14, a collimator illumination beam simultaneously 2 emitted in large mirror 14 and the target beam on the right-angle mirror 13, the reflected light beam 14 is formed large mirror 11 to guide the work of the theodolite 35; 13 and by the right-angle mirror reflection of the detection light passing through the light beam 19 passes through the window 516 with the rotation arm, irradiated on the folding mirror 20, the angle detected by the folding beam 22 is adjusted, into a small angular movement, the beam 22 received by the recording detection sensor 27 for error detection. 在旋转支臂5的中部固定连接有回转轴12,回转轴12通过一对精密滚动轴承6套在靶标支撑架23上的轴承安装孔内,形成回转轴系,驱动电机18和轴角编码器17套在支撑架23的相应安装孔内,并与回转轴12连接。 In the middle of the rotary arm 5 is fixedly connected with the rotary shaft 12, rotation shaft 12 through a pair of precision rolling bearings 6 sets of mounting holes on a target bracket 23, the rotary shaft is formed, the driving motor 18 and shaft encoder 17 sets corresponding mounting hole in the support frame 23, and is connected to the rotary shaft 12.

[0021] 将驱动电机18通电,带动旋转支臂5转动,目标光束35的运动轨迹包络出一圆锥曲面,在此光束引导下经纬仪11作方位、俯仰的变规律运动;与此同时,检测用的细小光束19经直角反射镜13反射后,穿过旋转支臂5上的通光窗口16照射到折转反射镜20的工作面上,精确调整折转反射镜20,使反射后的检测光束22的方向基本与回转轴12的轴线一致,此光束由CXD传感器即记录传感器27接收并成像;记录传感器27固定在三维调整座28上,在驱动电机18带动支臂5旋转时,记录传感器27以脱靶量形式实时记录检测光束22的位置,脱靶量数据通过电缆33传输到数据记录及处理模块34。 [0021] The drive motor 18 is energized to drive the rotation of the rotary arm 5, target beam trajectory envelope 35 illustrating a conic theodolite 11 In this orientation for beam guidance, regular exercise variable pitch; at the same time, detection 19 with a fine light beam 13 reflected at right angles by the mirror 16 is irradiated onto the work surface through the folding mirror 20 through the optical window on the rotary arm 5, precise adjustment of folding mirror 20, after the detection of the reflected consistent direction of the beam 22 and the rotary shaft 12 to the axis of this beam by the CXD sensor i.e. a recording sensor 27 receives and imaged; recording sensor 27 is fixed on a three-dimensional adjustment base 28, when the drive motor 18 drives the arm 5 is rotated, the recording sensor 27 in the form of real time recording miss distance detecting the position of the beam 22, off-target data amount 33 transferred to the data recording and processing module 34 by a cable.

[0022] 根据反射光学元件只改变光束传递方向、而不改变光束运动变化率的性质,在靶标旋转的一个周期360度范围内,间隔30度选取12点进行测量,每一点的位置用中心坐标即脱靶量ξ xi,I yi表示,i = 1,. . .,η ;利用12点数据按照俯仰、方位两个方向进行傅立叶展开,傅立叶级数的常数项系数代表反射镜调整误差Ix。 [0022] The reflective optical element to change only transmitting direction of the beam, without changing the nature of the rate of change of beam motion, in a range of 360 degrees of one cycle target rotation intervals of 30 degrees 12 selected measure points, the position of each point with the center coordinates i.e. miss distance ξ xi, I yi represents, i = 1 ,., η;.. in accordance with the Fourier expansion elevation, azimuth directions using two 12-point data, the constant term of a Fourier series coefficients represent the reflection mirror adjustment error Ix. ,Iytl,综合脱靶量为x,y两个方 , Iytl, integrated miss distance of x, y two side

向的合成误差,即么=批,-ξχ0)2 +(ξγι -ξγ0)2,最大动态误差μ = limax。 Synthesis of the error, i.e. it = batch, -ξχ0) 2 + (ξγι -ξγ0) 2, the maximum dynamic error μ = limax. 若对测量精度 If the measurement accuracy

要求很高,则可对轴系晃动进行进一步修正。 Demanding, you can shake of the shaft further correction.

[0023] 本发明采用两个反射镜从靶标工作光路的最后一级分离出一束光,穿过旋转支臂5上的通光窗口16,将其引到靶标的背面,再通过固定于回转轴12末端的折转反射镜20将目标光束35的大角度运动转化为检测光束22的小角度运动,采用固定在三维调整座28上的记录传感器27接收成像,从而记录靶标光束的实时变化情况,以评估光学动态靶标的动态精度。 [0023] The present invention employs two mirrors separated from the last stage of the target working optical path out of a beam of light, light passing through the window on the rotary arm 516, which is incorporated into the back of the target, and then fixed to the back off 12 the end of the shaft a reflecting mirror 20 to the large angle motion of the object beam 35 is converted into a small angular movement of the detection beam 22, using 27 receives image is fixed to the three-dimensional adjustment base 28 records sensor, such real-time changes the recording target beam to assess the optical dynamic target dynamic accuracy.

[0024] 本发明的工作动力来自驱动电机18,轴角编码器17用于记录旋转支臂5的角度位置,准直光管2出射的光束经大反射镜14反射形成引导经纬仪11工作的目标光束35, 直角反射镜13获取的部分目标光束反射后照射到折转反射镜20上,折转反射镜20主要作用是调整检测用光束19的方向,使其反射后与回转轴12的夹角尽量小,使固定在三维调整座28上的记录传感器27可以接收;由于大反射镜14与直角反射镜13采用胶接的方法固定在一起,根据平面反射元件传递几何光线的性质,检测光束22的变化直接反应了目标光束35的变化情况,通过数据记录及处理模块34对所记录的数据进行处理即可获得靶标的动态精度。 [0024] The motivation of the present invention from a drive motor 18, rotary encoder 17 for the angular position of the recording rotating arm 5, the collimator 2 emitted beam target boot theodolite 11 is operated by the large reflector 14 reflector formed beam 35, the reflected object beam 13 partially acquired right angle mirror is irradiated onto folding mirror 20, folding mirrors 20 main function is to adjust the direction of the beam 19 is detected by the angle of the rotary shaft 12 so that after reflection as small as possible, the recording three-dimensional sensor is fixed on the adjustment base 28, 27 may be received; due to the large mirror 14 and at right angles to the mirror 13 using the method of glued together, the light transmission properties of geometric planar reflective element, the detection beam 22 a change in direct response to changes in the target beam 35, by processing the recorded data 34 on the data recording and processing module to obtain the target dynamic accuracy.

Claims (5)

  1. 大型光电经纬仪动态测角精度的检测装置,包括准直光管(2)、反射镜压板(4)、旋转支臂(5)和精密滚动轴承(6),其特征在于,该装置还包括回转轴(12)、直角反射镜(13)、大反射镜(14)、角度座(15)、轴角编码器(17)、驱动电机(18)、折转反射镜(20)、折转反射镜座(21)、靶标基座、公用平台(26)、记录传感器(27)、传感器调整机构和数据存储及处理模块(34),准直光管(2)固定在旋转支臂(5)的一端;旋转支臂(5)上开设有通光窗口(16),旋转支臂(5)的另一端固定有角度座(15);大反射镜(14)通过反射镜压板(4)固定在角度座(15)上,直角反射镜(13)胶接在大反射镜(14)上;回转轴(12)固定在旋转支臂(5)的中部,并通过精密滚动轴承(6)套在靶标基座的轴承安装孔内,形成回转轴系;驱动电机(18)和轴角编码器(17)套在靶标基座内,并与回转轴(12)连接;折转反射镜(20)通过折转反射镜座(21 Large Optical angle measuring accuracy theodolite motion detection means comprises a collimator (2), a mirror plate (4), a rotary arm (5) and a precision roller (6), characterized in that the apparatus further comprises a rotary shaft (12), right-angle mirror (13), a large mirror (14), the angle of the seat (15), a shaft encoder (17), a drive motor (18), folding mirror (20), folding mirrors seat (21), the target base, common platform (26), a recording sensor (27), sensor adjustment means and a data storage and processing module (34), the collimator (2) fixed to a rotary arm (5) end; defines the rotary arm (5) through an optical window (16), the other end of the swivel arm (5) is fixed angular seat (15); a large mirror (14) (4) is fixed by a mirror platen the angle of the seat (15), right-angle mirror (13) glued over a large mirror (14); a rotation shaft (12) is fixed in the middle of the rotating arm (5) and (6) sets the target by precision rolling bearing mounting hole of the base, the rotary shaft is formed; a drive motor (18) and a shaft encoder (17) set in the target base and connected to the rotation shaft (12); folding mirrors (20) folding mirror holder (21 )固定在回转轴(12)的末端;靶标基座固定在公用平台(26)上;记录传感器(27)固定在传感器调整机构上,传感器调整机构固定在公用平台(26)上;数据存储及处理模块(34)通过电缆(33)与记录传感器(27)连接,数据存储及处理模块(34)固定在公用平台(26)上。 ) End is fixed to the rotary shaft (12); the target base is fixed on a common platform (26); a recording sensor (27), fixed on the sensor adjustment mechanism sensor adjustment mechanism is fixed in a common platform (26); data storage and the processing module (34) connected by a cable (33) and the recording sensor (27), data storage and processing module (34) is fixed on a common platform (26).
  2. 2.如权利要求1所述的大型光电经纬仪动态测角精度的检测装置,其特征在于,所述靶标基座包括支撑架(23)、靶标固紧机构(24)和角度调整机构(25),所述回转轴(12)通过精密滚动轴承(6)套在支撑架(23)的轴承安装孔内,驱动电机(18)和轴角编码器(17) 套在支撑架(23)的相应安装孔内;所述支撑架(23)通过靶标固紧机构(24)和角度调整机构(25)固定在公用平台(26)上。 Large angle measurement accuracy theodolite motion detection apparatus as claimed in claim 1, wherein said target base includes a support frame (23), the target fastening means (24) and the angle adjusting mechanism (25) the rotary shaft (12) by a precision roller (6) set in the support frame (23) bearing a mounting hole, a drive motor (18) and a shaft encoder (17) set in the support frame (23) of the respective mounting hole; the support frame (23) fixed on a common platform (26) by the target fastening mechanism (24) and the angle adjusting mechanism (25).
  3. 3.如权利要求1所述的大型光电经纬仪动态测角精度的检测装置,其特征在于,所述传感器调整机构包括三维调整座(28)、丝杠(29)、螺母(30)、防转螺钉(31)、底座(32)、丝杠长槽(37)和底座中心孔(36),所述记录传感器(27)固定在三维调整座(28)上,三维调整座(28)固定在丝杠(29)的一端,丝杠(29)另一端旋入螺母(30)内,防转螺钉(31)固定在底座(32)上,防转螺钉(31)的一端插入丝杠长槽(37)内,螺母(30)通过底座中心孔(36)与底座(32)连接。 Large angle measurement accuracy theodolite motion detection apparatus as claimed in claim 1, wherein said sensor comprises a three-dimensional adjustment of the seat adjustment mechanism (28), the screw (29), a nut (30), anti-rotation screws (31), the base (32), the screw trough (37) and the base central aperture (36), said recording sensor (27) fixed (28), a three-dimensional adjustment base (28) fixed to the three-dimensional adjustment base One end of the lead screw (29) at one end of the screw (29) screwed into the other end of the nut (30), anti-rotation screws (31) fixed to the base (32), anti-rotation screws (31) inserted into the long groove screw inner (37), the nut (30) connected to the central bore through the base (36) and the base (32).
  4. 4.权利要求1-3中任一项所述的大型光电经纬仪动态测角精度检测装置的使用方法, 其特征在于,该方法包括如下步骤:步骤一、通过准直光管(2)发出光束,并使该光束同时照射在大反射镜(14)和直角反射镜(13)上;步骤二、通过调整靶标基座,使经过大反射镜(14)反射的光束形成目标光束(35),利用目标光束(35)引导经纬仪(11)进行工作;步骤三、通过直角反射镜(13)反射的光束形成检测用光束(19),检测用光束(19)通过通光窗口(16)穿过旋转支臂(5),照射在折转反射镜(20)上,通过调整传感器调整机构,使经过折转反射镜(20)反射的检测光束(22)由记录传感器(27)接收并成像;步骤四、将驱动电机(18)通电,通过驱动电机(18)带动旋转支臂(5)转动,使目标光束(35)的运动轨迹包络出一圆锥曲面,经纬仪(11)在此光束引导下作方位、俯仰的变规 Large dynamic theodolite photoelectric angle measuring method using the accuracy of the detection device according to any one of claims 1 to 3, characterized in that the method comprises the following steps: Step 1, a light beam emitted by the collimator (2) , and the beam is irradiated while the large mirror (14) and right-angle mirror (13); two steps, by adjusting the target base, so that after a large mirror (14) forming light beam reflected object beam (35), theodolite guide (11) is operated with the target light beam (35); step three, the right-angle mirror (13) forming a detection light beam reflected by the beam (19), by detecting light passing through the window (16) with a light beam (19) rotating arm (5), irradiated in a folding mirror (20), by adjusting the sensor adjustment mechanism, so that after folding mirror (20) reflection of the detection light beam (22) received by the recording sensor (27) and imaged; step four, the drive motor (18) is energized, is rotated arm by a driving motor (18) (5) is rotated, the target light beam (35) of the trajectory of the envelope out of a conical surface, theodolite (11) of a light beam guided mainly as azimuth, elevation change of rules 律运动;与此同时,通过回转轴(12)带动折转反射镜(20)转动,使检测光束(22)作小角度的运动,记录传感器(27)以脱靶量形式实时记录该光束的位置;步骤五、通过电缆(33)将上述脱靶量数据传输给数据存储及处理模块(34),数据存储及处理模块(34)对该数据进行处理,将经纬仪对目标光束的测量数据与目标光角束标定值相比较,完成经纬仪对动态测角精度的检测。 Law of motion; At the same time, driven by a rotary shaft (12) folding mirrors (20) is rotated, the detection light beam (22) for movement of small angles, recording sensor (27) in the form of off-target amount of real time recording the position of the beam ; step 5 via a cable (33) the above-described off-target amount of data transferred to the data storage and processing module (34), data storage and processing module (34) processes the data, the theodolite measurement data of the target light on the target beam calibration values ​​compared to the beam angle, to complete the detection of the theodolite dynamic angle measurement accuracy.
  5. 5.如权利要求4所述的大型光电经纬仪动态测角精度的检测方法,其特征在于,所述步骤五中数据存储及处理模块(34)对数据进行处理的方法是:根据反射光学元件只改变光束传递方向、而不改变光束运动变化率的性质,在靶标旋转的一个周期360°范围内,间隔30°选取12点进行测量,每一点的位置用中心坐标即脱靶量ξχί,Iyi表示,i = 1,. . .,n ;利用12点数据按照俯仰、方位两个方向进行傅立叶展开,傅立叶级数的常数项系数代表折转反射镜(20)的调整误差ξχ。 The method of detecting a large angle measurement accuracy theodolite dynamic as claimed in claim 4, wherein said fifth step of storing the data and a processing module (34) data processing method are: The only reflective optical element changing the transfer direction of the beam, without changing the nature of the rate of change of beam motion, in a range of 360 ° one cycle target rotation interval of 30 ° 12 selected measure points, the position of each point, i.e. miss distance ξχί with the center coordinates, Iyi expressed, i = 1 ,., n;.. Fourier expansion according to the pitch, two azimuth directions using 12:00 data, Fourier series coefficients represent the constant term adjustment error ξχ folding mirror (20). ,Iytl,综合脱靶量为x,y两个方向的合成误差,即o)2,最大动态误差μ = ι imax。 , Iytl, integrated miss distance is x, the two directions of the composite error y, i.e., o) 2, the maximum dynamic error μ = ι imax.
CN 201010261525 2010-08-25 2010-08-25 Device and method for detecting dynamic angle measurement precision of large-sized photoelectric theodolite CN101949711B (en)

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CN105375097A (en) * 2015-12-02 2016-03-02 成都锦江电子系统工程有限公司 Large-scale paraboloid antenna surface operation angle control and loading measurement system
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CN106871926B (en) * 2016-12-30 2019-08-06 中国科学院西安光学精密机械研究所 The measuring device and measuring method of heavy caliber electro-optic theodolite angle measurement accuracy

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