CN102840870B - Geometric error correction method for three-dimensional orthogonal direction sensors - Google Patents
Geometric error correction method for three-dimensional orthogonal direction sensors Download PDFInfo
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- CN102840870B CN102840870B CN201210352043.7A CN201210352043A CN102840870B CN 102840870 B CN102840870 B CN 102840870B CN 201210352043 A CN201210352043 A CN 201210352043A CN 102840870 B CN102840870 B CN 102840870B
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Abstract
The invention discloses a geometric error correction method for three-dimensional orthogonal direction sensors. With the determination of the inconsistency error between sensor measurement axes and device measurement axes as a condition, the method defines the measurement vector components of the sensors in a device coordinate system, establishes three normal plane equations for the measurement vector components, and then solves the intersection point coordinates of the three normal planes, so that a device coordinate system-based high-precision vector measurement value is obtained. The method can correct the direct measurement value of the sensors with geometric position error by the way of calculation to obtain the device coordinate system-based accurate measurement value, thus preventing direct measurement error; since the high-precision measurement value is obtained by correction calculation, then the sensors only need to be steadily installed, and high part machining precision and device installation precision are not needed any more.
Description
Technical field
The present invention relates to a kind of modification method of three-dimensional orthogonal direction sensor geometric error.
Background technology
An axle orthogonal orthogonal direction sensor basic comprising three-dimensional measuring instrument is measured by three, sensor is installed in above the positioning body of surveying instrument, require that the measurement axle of sensor and the coordinate axis of instrument are consistent, the measuring accuracy of instrument depends primarily on the precision of sensor and the geometric position precision of sensor.
The operation such as processing and manufacturing, mounting and adjusting due to parts always causes the geometry position error producing sensor, the measurement axle of sensor and the coordinate axis of instrument can be made to occur inconsistent situation, so just cause the measuring error of instrument.In order to reach higher measuring accuracy, generally at present that processing and installation accuracy by improving parts realizes, thus result in processing and the difficulty of installment work and cost and all increase substantially, but nonetheless, can ensure Instrument measuring precision also can only reach≤± 2 °, and will reach≤more than ± 1.0 °, remain extremely difficult.
In addition, after instrument work certain hour, generally all to there are some changes in the geometry site of sensor measurement axle and instrument coordinates axle, the measuring accuracy of instrument when these variable effects, just can only adjust sensor and solve by reinstalling.
Summary of the invention
The technical problem to be solved in the present invention there is provided a kind of modification method of the three-dimensional orthogonal direction sensor geometric error not needing the processing of raising parts and installation accuracy to realize, the method measures the disparity error of axle and apparatus measures axle by determination sensor, realizes the correction to geometric error.
It is as follows that the present invention solves the problems of the technologies described above adopted technical scheme: the modification method of three-dimensional orthogonal direction sensor geometric error, comprises the following steps:
S1, determination sensor measure error inconsistent produced between axle and apparatus measures axle, obtain the deflection error vector of sensor inside instrument coordinates system, then deflection error vector units is turned to deflection error unit vector:
The deflection error unit vector of X-axis sensor in instrument coordinates system is (Ax, Bx, Cx);
The deflection error unit vector of Y-axis sensor in instrument coordinates system is (Ay, By, Cy);
The deflection error unit vector of Z axis sensor in instrument coordinates system is (Az, Bz, Cz);
S2, directly measure tested vector by sensor, three vector components that sensor measurement obtains are as follows:
The vector component of X-axis sensor measurement is Rx;
The vector component of Y-axis sensor measurement is Ry;
The vector component of Z axis sensor measurement is Rz;
S3, in instrument coordinates system, define three vector components that sensor in step s 2 directly records, according to the deflection error unit vector that step S1 calculates, three vector components directly recorded by sensor convert the vector component under instrument coordinates system to:
The vector component of X-axis sensor measurement vector component under instrument coordinates system is (AxRx, BxRx, CxRx);
The vector component of Y-axis sensor measurement vector component under instrument coordinates system is (AyRy, ByRy, CyRy);
The vector component of Z axis sensor measurement vector component under instrument coordinates system is (AzRz, BzRz, CzRz);
S4, inside instrument coordinates system, set up the normal plane of three sensor measurement vector components, three normal planes are respectively through the end points of the vector component of three sensor measurement vector components under instrument coordinates system, and the expression formula of three normal plane equations is as follows:
The normal plane equation of X-axis sensor measurement vector component: AxRx (X-AxRx)+BxRx (Y-BxRx)+CxRx (Z-CxRx)=0;
The normal plane equation of Y-axis sensor measurement vector component: AyRy (X-AyRy)+ByRy (Y-ByRy)+CyRy (Z-CyRy)=0;
The normal plane equation of Z axis sensor measurement vector component: AzRz (X-AzRz)+BzRz (Y-BzRz)+CzRz (Z-CzRz)=0;
S5, characteristic according to deflection error unit vector: Ax
2+ Bx
2+ Cx
2=1, Ay
2+ By
2+ Cy
2=1, Az
2+ Bz
2+ Cz
2=1, solve three normal plane equations, obtain the intersecting point coordinate (X, Y, Z) of three normal planes as the direction coordinate of tested vector inside instrument coordinates system.
As the preferred technical scheme of the present invention, described step S1 comprises step:
A. instrument is placed among known normal vector field, respectively three of described instrument mutually orthogonal change in coordinate axis direction are overlapped with known normal vector direction, record sensor respectively to the measured value of normal vector, the measured value obtaining X, Y, Z axis sensor when instrument X-axis overlaps with normal vector direction is Mxx, Myx, Mzx, when instrument Y-axis overlaps with normal vector direction, the measured value of X, Y, Z axis sensor is Mxy, Myy, Mzy, and when instrument Z axis overlaps with normal vector direction, the measured value of X, Y, Z axis sensor is Mxz, Myz, Mzz;
B. the sensor recorded according to step a is to the measured value of normal vector, obtaining the deflection error vector of X-axis sensor in instrument coordinates system is (Mxx, Mxy, Mxz), the deflection error vector of Y-axis sensor in instrument coordinates system is (Myx, Myy, Myz), the deflection error vector of Z axis sensor in instrument coordinates system is (Mzx, Mzy, Mzz), unit turns to the deflection error unit vector (Ax of X-axis sensor in instrument coordinates system respectively again, Bx, Cx), deflection error unit vector (the Ay of Y-axis sensor in instrument coordinates system, By, Cy), deflection error unit vector (the Az of Z axis sensor in instrument coordinates system, Bz, Cz).
Visible, compared with prior art, technical scheme of the present invention is for condition with error inconsistent produced between Accurate Measurement sensor measurement axle and apparatus measures axle, the measurement component of sensor is defined in instrument coordinates system, set up three the normal plane equations measuring resolute, solve the intersecting point coordinate of three normal planes again, thus obtain the High-precision Vector measured value based on instrument coordinates system.This method can carry out the direct measured value that there is geometry position error sensor calculating correction, obtain the precise measurements based on instrument coordinates system, avoid direct measuring error, the measuring accuracy of instrument is by the measuring accuracy of the precision and sensor geometric position that depend primarily on sensor, and Instrument measuring precision can ensure to reach≤± 0.5 °; Because this method obtains high-acruracy survey value by corrected Calculation, as long as so realize installing the firm of sensor, no longer need very high parts machining precision and apparatus installation precision.
In addition, the inventive method may be used for the recovery of accuracy of instrument, when instrument work after certain hour, if the geometry site of sensor measurement axle and instrument coordinates axle there occurs change, have impact on the measuring accuracy of instrument, so just remeasure and determine error inconsistent produced between sensor measurement axle and apparatus measures axle, and readjust the parameter of corrected Calculation accordingly.
Accompanying drawing explanation
Fig. 1 is correction process flow diagram of the present invention.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
As described in Figure 1, the present invention revises three-dimensional orthogonal direction sensor geometric error, comprises the steps:
S1, determination sensor measure error inconsistent produced between axle and apparatus measures axle, obtain the deflection error vector of sensor inside instrument coordinates system, then deflection error vector units is turned to deflection error unit vector:
A. the orientation measurement instrument formed primarily of sensor is placed among known normal vector field, respectively three of described instrument mutually orthogonal change in coordinate axis direction are overlapped with known normal vector direction, record sensor respectively to the measured value of normal vector, just obtain three groups of totally nine data, be respectively X when instrument X-axis overlaps with normal vector direction, Y, the measured value of Z axis sensor is Mxx, Myx, Mzx, X when instrument Y-axis overlaps with normal vector direction, Y, the measured value of Z axis sensor is Mxy, Myy, Mzy, X when instrument Z axis overlaps with normal vector direction, Y, the measured value of Z axis sensor is Mxz, Myz, Mzz, as shown in table 1 below:
Table 1
B. according to three groups of nine data above, the azimuthal error vector of three sensors inside instrument coordinates system can be obtained, and calculate deflection error unit vector accordingly, wherein, the deflection error vector of X-axis sensor in instrument coordinates system is (Mxx, Mxy, Mxz), the deflection error vector of Y-axis sensor in instrument coordinates system is (Myx, Myy, Myz), the deflection error vector of Z axis sensor in instrument coordinates system is (Mzx, Mzy, Mzz), the deflection error unit vector of X-axis sensor in instrument coordinates system is (Ax, Bx, Cx), the deflection error unit vector of Y-axis sensor in instrument coordinates system is (Ay, By, Cy), the deflection error unit vector of Z axis sensor in instrument coordinates system is (Az, Bz, Cz), shown in table 2 specific as follows:
Table 2
S2, directly measure tested vector by sensor, three vector components that sensor measurement obtains are expressed as follows:
The vector component of X-axis sensor measurement is Rx;
The vector component of Y-axis sensor measurement is Ry;
The vector component of Z axis sensor measurement is Rz.
S3, in instrument coordinates system, define three vector components that sensor in step s 2 directly records, thus three vector components directly recorded by sensor convert the vector component under instrument coordinates system to:
The vector component of X-axis sensor measurement vector component under instrument coordinates system is (AxRx, BxRx, CxRx);
The vector component of Y-axis sensor measurement vector component under instrument coordinates system is (AyRy, ByRy, CyRy);
The vector component of Z axis sensor measurement vector component under instrument coordinates system is (AzRz, BzRz, CzRz);
S4, inside instrument coordinates system, set up the normal plane of three sensor measurement vector components, three normal planes are respectively through the end points of the vector component of three sensor measurement vector components under instrument coordinates system, and the expression formula of three normal plane equations is as follows:
The normal plane equation of X-axis sensor measurement vector component: AxRx (XAxRx)+BxRx (Y-BxRx)+CxRx (Z-CxRx)=0;
The normal plane equation of Y-axis sensor measurement vector component: AyRy (XAyRy)+ByRy (Y-ByRy)+CyRy (Z-CyRy)=0;
The normal plane equation of Z axis sensor measurement vector component: AzRz (XAzRz)+BzRz (Y-BzRz)+CzRz (Z-CzRz)=0;
According to the characteristic of unit vector, Ax
2+ Bx
2+ Cx
2=1, Ay
2+ By
2+ Cy
2=1, Az
2+ Bz
2+ Cz
2=1, after simplification, the expression formula of three normal plane equations is as follows:
The normal plane equation of X-axis sensor measurement vector component: AxX+BxY+CxZ=Rx;
The normal plane equation of Y-axis sensor measurement vector component: AyX+ByY+CyZ=Ry;
The normal plane equation of Z axis sensor measurement vector component: AzX+BzY+CzZ=Rz;
S5, solve the intersecting point coordinate of three normal plane equations, namely solve following equations group:
Solve system of equations above, obtain the intersecting point coordinate (X, Y, Z) of three normal planes, this is the direction coordinate of tested vector inside instrument coordinates system namely.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (1)
1. the modification method of three-dimensional orthogonal direction sensor geometric error, is characterized in that, comprises the following steps:
S1, determination sensor measure error inconsistent produced between axle and apparatus measures axle, obtain the deflection error vector of sensor inside instrument coordinates system, then deflection error vector units is turned to deflection error unit vector:
The deflection error unit vector of X-axis sensor in instrument coordinates system is (Ax, Bx, Cx);
The deflection error unit vector of Y-axis sensor in instrument coordinates system is (Ay, By, Cy);
The deflection error unit vector of Z axis sensor in instrument coordinates system is (Az, Bz, Cz);
S2, directly measure tested vector by sensor, three vector components that sensor measurement obtains are as follows:
The vector component of X-axis sensor measurement is Rx;
The vector component of Y-axis sensor measurement is Ry;
The vector component of Z axis sensor measurement is Rz;
S3, in instrument coordinates system, define three vector components that sensor in step s 2 directly records, according to the deflection error unit vector that step S1 calculates, three vector components directly recorded by sensor convert the vector component under instrument coordinates system to:
The vector component of X-axis sensor measurement vector component under instrument coordinates system is (AxRx, BxRx, CxRx);
The vector component of Y-axis sensor measurement vector component under instrument coordinates system is (AyRy, ByRy, CyRy);
The vector component of Z axis sensor measurement vector component under instrument coordinates system is (AzRz, BzRz, CzRz);
S4, inside instrument coordinates system, set up the normal plane of three sensor measurement vector components, three normal planes are respectively through the end points of the vector component of three sensor measurement vector components under instrument coordinates system, and the expression formula of three normal plane equations is as follows:
The normal plane equation of X-axis sensor measurement vector component: AxRx (X-AxRx)+BxRx (Y-BxRx)+CxRx (Z-CxRx)=0;
The normal plane equation of Y-axis sensor measurement vector component: AyRy (X-AyRy)+ByRy (Y-ByRy)+CyRy (Z-CyRy)=0;
The normal plane equation of Z axis sensor measurement vector component: AzRz (X-AzRz)+BzRz (Y-BzRz)+CzRz (Z-CzRz)=0;
S5, characteristic according to unit vector: Ax
2+ Bx
2+ Cx
2=1, Ay
2+ By
2+ Cy
2=1, Az
2+ Bz
2+ Cz
2=1, solve three normal plane equations, obtain the intersecting point coordinate (X, Y, Z) of three normal planes as the direction coordinate of tested vector inside instrument coordinates system;
Described step S 1 comprises step:
A. instrument is placed among known normal vector field, respectively three of described instrument mutually orthogonal change in coordinate axis direction are overlapped with known normal vector direction, record sensor respectively to the measured value of normal vector, the measured value obtaining X, Y, Z axis sensor when instrument X-axis overlaps with normal vector direction is Mxx, Myx, Mzx, when instrument Y-axis overlaps with normal vector direction, the measured value of X, Y, Z axis sensor is Mxy, Myy, Mzy, and when instrument Z axis overlaps with normal vector direction, the measured value of X, Y, Z axis sensor is Mxz, Myz, Mzz;
B. the sensor recorded according to step a is to the measured value of normal vector, obtaining the deflection error vector of X-axis sensor in instrument coordinates system is (Mxx, Mxy, Mxz), the deflection error vector of Y-axis sensor in instrument coordinates system is (Myx, Myy, Myz), the deflection error vector of Z axis sensor in instrument coordinates system is (Mzx, Mzy, Mzz), unit turns to the deflection error unit vector (Ax of X-axis sensor in instrument coordinates system respectively again, Bx, Cx), deflection error unit vector (the Ay of Y-axis sensor in instrument coordinates system, By, Cy), deflection error unit vector (the Az of Z axis sensor in instrument coordinates system, Bz, Cz).
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| CN101750067A (en) * | 2009-12-30 | 2010-06-23 | 北京控制工程研究所 | Imaging type method for correcting earth oblateness by earth sensor |
| CN101887068A (en) * | 2010-06-01 | 2010-11-17 | 中北大学 | Calibration compensation method for triaxial vector sensor and biaxial vector sensor |
| CN101915580A (en) * | 2010-07-14 | 2010-12-15 | 中国科学院自动化研究所 | Self-adaptation three-dimensional attitude positioning method based on microinertia and geomagnetic technology |
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| CN101750067A (en) * | 2009-12-30 | 2010-06-23 | 北京控制工程研究所 | Imaging type method for correcting earth oblateness by earth sensor |
| CN101887068A (en) * | 2010-06-01 | 2010-11-17 | 中北大学 | Calibration compensation method for triaxial vector sensor and biaxial vector sensor |
| CN101915580A (en) * | 2010-07-14 | 2010-12-15 | 中国科学院自动化研究所 | Self-adaptation three-dimensional attitude positioning method based on microinertia and geomagnetic technology |
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