CN103994750B - Three-axis stabilized platform angle detector for radar antenna and detection method thereof - Google Patents
Three-axis stabilized platform angle detector for radar antenna and detection method thereof Download PDFInfo
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- CN103994750B CN103994750B CN201410231366.XA CN201410231366A CN103994750B CN 103994750 B CN103994750 B CN 103994750B CN 201410231366 A CN201410231366 A CN 201410231366A CN 103994750 B CN103994750 B CN 103994750B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention relates to an SAR (Stop and Reveres) antenna stabilized platform and particularly relates to a three-axis stabilized platform angle detector for a radar antenna. The three-axis stabilized platform angle detector comprises a stabilized platform connection plate, an X-axis rotary mechanism, an X-axis moving mechanism, a Y-axis rotary mechanism, a Y-axis moving mechanism, a Z-axis rotary mechanism, a Z-axis moving mechanism and an engine base, wherein the Z-axis rotary mechanism is mounted on the engine base; the Y-axis moving mechanism is connected with the Z-axis moving mechanism; the X-axis moving mechanism is connected with the Y-axis moving mechanism; the Y-axis rotary mechanism is connected with the X-axis moving mechanism; the Z-axis moving mechanism is connected with the Y-axis rotary mechanism; the X-axis rotary mechanism is connected with the Z-axis moving mechanism; the stabilized platform connection plate is connected with the X-axis rotary mechanism and is used for being connected with the tail end of a stabilized platform to be detected. The three-axis stabilized platform angle detector for the radar antenna has the beneficial effects that the rotary angles of three axes of the three-axis stabilized platform can be detected simultaneously in a working process, the detection efficiency is high and the detector is convenient.
Description
Technical field
The present invention relates to SAR antenna stabilized platforms, refer in particular to a kind of radar antenna three-axle steady platform angle detector and inspection
Survey method.
Background technology
SAR antenna stabilized platforms are isolated the aircraft disturbance caused due to air turbulence, i.e. carrier aircraft by platform courses and are existed
Deflection or jolt that course, pitching and roll direction produce；Carrier aircraft is perceived by inertia device (gyroscope and accelerometer) to exist
Course, the angular velocity in three directions of pitching and roll, corresponding three servomotors of control computer instruction difference are with opposite direction
Uniform velocity drives stabilized platform to operate to offset the deflection that carrier aircraft is produced in course, pitching and roll direction, so as to realize radar
Antenna is relative to geographical attitude stabilization, it is ensured that SAR radar system energy large area is reliably imaged.
The angle of operation precision of stabilized platform stablizes important to the compensation of SAR antennas, therefore will be to stabilized platform
Angle of operation carry out detect box correction；At present at home, detect that the method for stabilized platform angle precision there are two kinds, one kind is sharp
Light detection method, another kind is theodolite testing method, both approaches have the shortcomings that one it is common be can only to carry out in synchronization
Single shaft is detected, it is impossible to which three direction of principal axis are detected simultaneously；This is because stabilized platform operate when not only it is angled operating and while with
Coordinate position changes, and in both detection methods, coordinate position variable quantity can be coupled in angle detection, so as to produce angle
Degree detection error.
The content of the invention
The technical problem to be solved is：There is provided a kind of three and rotate three moving structures for three-axle steady platform angle
The instrument of degree detection, the impact detected to angle by the mobile neutralizing stabilized platform coordinate position variable quantity in three directions is real
Existing three-axle steady platform carries out three axial angle detections simultaneously.
The technical solution adopted for the present invention to solve the technical problems is：It is steady that a kind of three moving structures of three rotation are used for three axles
The instrument of fixed platform angle detection, including stabilized platform connecting plate, X-axis rotating mechanism, X-axis travel mechanism, Y-axis rotating mechanism, Y
Axle travel mechanism, Z axis rotating mechanism, Z axis travel mechanism, support, Z axis rotating mechanism is arranged on support, detects stabilized platform
Z-direction rotational angle, Y-axis moving mechanism is arranged on Z axis rotating mechanism, and neutralizing stabilized platform is in Y direction changes in coordinates
Impact to roll angle inspection, X-axis travel mechanism is arranged in Y-axis moving mechanism, and neutralizing stabilized platform is in X-direction changes in coordinates
Impact to roll angle inspection, Y-axis rotating mechanism is arranged in X-axis travel mechanism, and detection stabilized platform is in Y direction angle of rotation
Degree, Z axis travel mechanism is arranged on Y-axis rotating mechanism, dissolves shadow of the stabilized platform in Z-direction changes in coordinates to roll angle inspection
Ring, X-axis rotating mechanism is arranged in Z axis travel mechanism, detect rotational angle of the stabilized platform in X-direction, stabilized platform connects
Fishplate bar is connected with X-axis rotating mechanism, for connecting tested stabilized platform end.
Further limit, Z axis rotating mechanism includes Z axis rotating mechanism hole, Z axis rotating mechanism axle, angle detection encoder；
Z axis rotating mechanism hole is vertically positioned on support, and Z axis rotating mechanism axle is rotatably assorted with Z axis rotating mechanism hole, Z axis rotating mechanism
Match somebody with somebody angled detection encoder on axle, the relative rotation angle between Z axis rotating mechanism axle and Z axis rotating mechanism hole passes through angle
Degree detection encoder is obtained.
Further limit, Y-axis moving mechanism includes Y-axis moving mechanism guide rail, Y-axis moving mechanism slide block；Y-axis moving mechanism
Guide rail is vertical with Z axis rotating mechanism axle to be fixedly connected, and Y-axis moving mechanism slide block is with Y-axis moving mechanism guide rail in the horizontal direction
It is slidably matched.
Further limit, X-axis travel mechanism includes X-axis travel mechanism guide rail, X-axis travel mechanism slide block；X-axis travel mechanism
Guide rail is vertical with Y-axis moving mechanism slide block to be fixedly connected, and X-axis travel mechanism slide block is with X-axis travel mechanism guide rail in the horizontal direction
On be slidably matched.
Further limit, Y-axis rotating mechanism includes Y-axis rotating mechanism axle, Y-axis rotating mechanism hole, angle detection encoder；
Y-axis rotating mechanism axle is vertical with X-axis travel mechanism slide block to be fixedly connected, and Y-axis rotating mechanism hole rotates with Y-axis rotating mechanism axle matches somebody with somebody
Close, the relative rotation angle between Y-axis rotating mechanism axle and Y-axis rotating mechanism hole detects that encoder is obtained by angle.
Further limit, Z axis travel mechanism includes Z axis travel mechanism guide rail, Z axis travel mechanism slide block；Z axis travel mechanism
Guide rail is vertical with Y-axis rotating mechanism hole to be fixedly connected, and Z axis travel mechanism guide rail is with Z axis travel mechanism slide block in vertical direction
It is slidably matched.
Further limit, X-axis rotating mechanism includes X-axis rotating mechanism axle, X-axis rotating mechanism hole, angle detection encoder；
X-axis rotating mechanism axle is vertical with Z axis travel mechanism slide block to be fixedly connected, and X-axis rotating mechanism hole rotates with X-axis rotating mechanism axle matches somebody with somebody
Close, the relative rotation angle between X-axis rotating mechanism axle and X-axis rotating mechanism hole detects that encoder is obtained by angle.
Further limit, stabilized platform connecting plate is vertical with X-axis rotating mechanism hole to be fixedly connected.
The invention has the beneficial effects as follows：The radar antenna three-axle steady platform angle detector employs the rotation of three movement three
3P-3R structures, three travel mechanisms can dissolve stabilized platform coordinate position and change the impact detected to angle in its course of work,
The rotational angle of three axles of detection three-axle steady platform simultaneously is realized, detection efficiency is high and facilitates.
Description of the drawings
Fig. 1 is three-axle steady platform structure principle chart.
Fig. 2 is the three-axle steady platform angle detector structure principle chart of the present invention.
Fig. 3 is that reference position is illustrated after the three-axle steady platform angle detector of the present invention is connected with three-axle steady platform
Figure.
Fig. 4 is the three-axle steady platform angle detector detects schematic diagram of the present invention.
In figure：1. support, 2-1. Z axis rotating mechanisms hole, 2-2. Z axis rotating mechanism axles, 3-1. Y-axis moving mechanism is led
Rail, 3-2. Y-axis moving mechanism slide blocks, 4-1. X-axis travel mechanism guide rail, 4-2. X-axis travel mechanism slide block, 5-1. Y-axis turns
Dynamic mechanism shaft, 5-2. Y-axis rotating mechanisms hole, 6-1. Z axis travel mechanism guide rail, 6-2. Z axis travel mechanism slide block, 7-1. X
Axle rotating mechanism axle, 7-2. X-axis rotating mechanisms hole, 8. stabilized platform connecting plate.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is further described.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of radar antenna three-axle steady platform angle detector, including stably putting down
Platform connecting plate, X-axis rotating mechanism, X-axis travel mechanism, Y-axis rotating mechanism, Y-axis moving mechanism, Z axis rotating mechanism, Z axis movement
Mechanism and support；X-axis travel mechanism, Y-axis moving mechanism, Z axis travel mechanism can move freely, and sit for dissolving stabilized platform
Cursor position change to angle detection band come impact, X-axis rotating mechanism, Y-axis rotating mechanism, Z axis rotating mechanism freely rotate and
Each self-encoding encoder is respectively provided with for detecting that relative angle is rotated between rotating mechanism hole axle.
Z axis rotating mechanism is arranged on support, detects stabilized platform Z-direction rotational angle, and Y-axis moving mechanism is arranged on
On Z axis rotating mechanism, dissolve impact of the stabilized platform in Y direction changes in coordinates to roll angle inspection, X-axis travel mechanism is arranged on
In Y-axis moving mechanism, dissolve impact of the stabilized platform in X-direction changes in coordinates to roll angle inspection, Y-axis rotating mechanism is arranged on
In X-axis travel mechanism, detection stabilized platform is arranged on Y-axis rotating mechanism in Y direction rotational angle, Z axis travel mechanism, is changed
Impact of the solution stabilized platform in Z-direction changes in coordinates to roll angle inspection, X-axis rotating mechanism is arranged in Z axis travel mechanism, inspection
Rotational angle of the stabilized platform in X-direction is surveyed, stabilized platform connecting plate is connected with X-axis rotating mechanism, it is tested steady for connecting
Fixed platform end.
Three-axle steady platform antenna connecting plate is fastenedly connected with the stabilized platform connecting plate 8 of detector, and adjusts stable flat
Platform installation site is at being fixed during the reference position state shown in Fig. 3, and so-called reference position state is the axle of stabilized platform three
The coordinate that the direction change in coordinate axis direction corresponding with coordinate system is parallel and the rotating shaft direction of detector three is also corresponding with coordinate system
A kind of parallel state of direction of principal axis, now the angle of the axle of stabilized platform three be all 0 °, the angle of the axle of detector three is also all 0 °.If
The three Shaft angles difference of stabilized platformΦx1、Φy1、ΦZ1, the corner of the axle of detector three is respectivelyΦx2、Φy2、ΦZ2, then
Under the state of reference position, haveΦx1=0°、Φy1=0°、ΦZ1=0 °,Φx2=0°、Φy2=0°、Φz2=0°。
The course of work is as follows：
As shown in figure 4, when stabilized platform work is rotated, three rotating mechanisms of detector and three travel mechanisms will
Pursuit movement, three travel mechanisms do not change direction in motor process, therefore its each part angle to detector does not have
Affect, i.e., do not change the rotational angle of three rotary shafts of detector；Due to three pivot centers of detector it is mutually orthogonal, and respectively
With three diameter parallels of platform, therefore there is relationΦx2=Φx1、Φy2=Φy1、Φz2=ΦZ1, due to X, Y, Z on detector
Encoder, therefore the corner of three axles of detector are separately installed with three rotating mechanismsΦx2、Φy2、ΦZ2 can be real
When obtain, such that it is able to the Work-corner of the axle of real-time detection stabilized platform threeΦx1、Φy1、Φz1；For example in stabilized platform
Under being operated in certain location status, the encoder being respectively mounted on tri- rotating mechanisms of X, Y, Z on detector is detectedΦx2=
30°、Φy2=10°、ΦZ2=20 °, so as to the Work-corner for learning the axle of stabilized platform three isΦx1=30°、Φy1=10°、Φz1=
20°。
Claims (3)
1. radar antenna three-axle steady platform angle detector, it is characterised in that：The detector include stabilized platform connecting plate,
X-axis rotating mechanism, X-axis travel mechanism, Y-axis rotating mechanism, Y-axis moving mechanism, Z axis rotating mechanism, Z axis travel mechanism, support,
Z axis rotating mechanism is arranged on support, detects stabilized platform Z-direction rotational angle, and Y-axis moving mechanism is rotated installed in Z axis
In mechanism, dissolve impact of the stabilized platform in Y direction changes in coordinates to roll angle inspection, X-axis travel mechanism moves installed in Y-axis
In mechanism, dissolve impact of the stabilized platform in X-direction changes in coordinates to roll angle inspection, Y-axis rotating mechanism is moved installed in X-axis
In mechanism, detection stabilized platform is arranged on Y-axis rotating mechanism in Y direction rotational angle, Z axis travel mechanism, and neutralizing is stable
Impact of the platform in Z-direction changes in coordinates to roll angle inspection, X-axis rotating mechanism is arranged in Z axis travel mechanism, and detection is stable
In the rotational angle of X-direction, stabilized platform connecting plate is connected platform with X-axis rotating mechanism, for connecting tested stabilized platform
End；The Z axis rotating mechanism includes Z axis rotating mechanism hole, Z axis rotating mechanism axle, third angle detection encoder；Z axis turn
Dynamic mechanism orifice is vertically positioned on support, and Z axis rotating mechanism axle is rotatably assorted with Z axis rotating mechanism hole, is matched somebody with somebody on Z axis rotating mechanism axle
There is third angle to detect encoder, the relative rotation angle between Z axis rotating mechanism axle and Z axis rotating mechanism hole passes through the third angle
Degree detection encoder is obtained；The Y-axis moving mechanism includes Y-axis moving mechanism guide rail, Y-axis moving mechanism slide block；Y-axis moving machine
Structure guide rail is vertical with Z axis rotating mechanism axle to be fixedly connected, and Y-axis moving mechanism slide block is with Y-axis moving mechanism guide rail in the horizontal direction
On be slidably matched；The X-axis travel mechanism includes X-axis travel mechanism guide rail, X-axis travel mechanism slide block；X-axis travel mechanism guide rail
Vertical with Y-axis moving mechanism slide block to be fixedly connected, X-axis travel mechanism slide block is slided in the horizontal direction with X-axis travel mechanism guide rail
It is dynamic to coordinate；The Y-axis rotating mechanism includes Y-axis rotating mechanism axle, Y-axis rotating mechanism hole, second angle detection encoder；Y-axis
Rotating mechanism axle is vertical with X-axis travel mechanism slide block to be fixedly connected, and Y-axis rotating mechanism hole is rotatably assorted with Y-axis rotating mechanism axle,
Relative rotation angle between Y-axis rotating mechanism axle and Y-axis rotating mechanism hole detects that encoder is obtained by second angle；It is described
Z axis travel mechanism includes Z axis travel mechanism guide rail, Z axis travel mechanism slide block；Z axis travel mechanism guide rail and Y-axis rotating mechanism hole
Vertically it is fixedly connected, Z axis travel mechanism guide rail is slidably matched in vertical direction with Z axis travel mechanism slide block；The X-axis is rotated
Mechanism includes X-axis rotating mechanism axle, X-axis rotating mechanism hole, first angle detection encoder；X-axis rotating mechanism axle is moved with Z axis
Mechanism's slide block is vertically fixedly connected, and X-axis rotating mechanism hole is rotatably assorted with X-axis rotating mechanism axle, X-axis rotating mechanism axle and X-axis
Relative rotation angle between rotating mechanism hole detects that encoder is obtained by first angle.
2. radar antenna three-axle steady platform angle detector as claimed in claim 1, it is characterised in that：The stabilized platform
Connecting plate is vertical with X-axis rotating mechanism hole to be fixedly connected.
3. the detection method of radar antenna three-axle steady platform angle detector as claimed in claim 1, it is characterised in that bag
Include following steps：
Radar three-axle steady platform antenna connecting plate is fastenedly connected with the stabilized platform connecting plate of detector, and adjusts stable flat
Platform installation site is at being fixed during the state of reference position, and so-called reference position state is the direction of principal axis of stabilized platform three and coordinate
It is that the change in coordinate axis direction that corresponding change in coordinate axis direction is parallel and the rotating shaft direction of detector three is also corresponding with coordinate system is parallel
A kind of state, now the angle of the axle of radar stabilized platform three be all 0 °, the angle of the axle of detector three is also all 0 °；If radar is steady
The three Shaft angles difference Φ x1 of fixed platform, Φ y1, Φ z1, the corner of the axle of detector three is respectively Φ x2, Φ y2, Φ z2, then exists
Under the state of reference position, there are Φ x1=0 °, Φ y1=0 °, Φ z1=0 °, Φ x2=0 °, Φ y2=0 °, Φ z2=0 °；
When the work of radar three-axle steady platform is rotated, three rotating mechanisms of detector and three travel mechanisms will follow fortune
Dynamic, three travel mechanisms do not change direction in motor process, therefore its each part angle on detector does not affect, i.e.,
The rotational angle of three rotary shafts of detector is not changed；Due to three pivot centers of detector it is mutually orthogonal, and respectively with radar
Three diameter parallels of three-axle steady platform, therefore have relation Φ x2=Φ x1, Φ y2=Φ y1, Φ z2=Φ z1, due to detection
Encoder, therefore corner Φ x2, Φ y2, the Φ of three axles of detector are separately installed with instrument on tri- rotating mechanisms of X, Y, Z
Z2 can be real-time acquisition, such that it is able to the Work-corner Φ x1 of the axle of real-time detection stabilized platform three, Φ y1, Φ z1.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104659487B (en) * | 2014-12-23 | 2018-01-02 | 北京无线电计量测试研究所 | A kind of plain wave emissions Characteristics Detection antenna phase center adjusting means |
| CN104864843B (en) * | 2015-05-29 | 2017-05-17 | 湖北三江航天万峰科技发展有限公司 | High-accuracy two-layer collimating guide rail |
| CN106092499B (en) * | 2016-07-08 | 2019-04-19 | 重庆大学 | The three axis rotation test devices for wind tunnel model |
| CN108453053A (en) * | 2017-02-17 | 2018-08-28 | 蔡凯 | It is multi-direction directly to tilt weighting platform method sorting title |
| CN108957410A (en) * | 2017-05-25 | 2018-12-07 | 中国科学院电子学研究所 | Synthetic aperture radar antenna stabilized platform integrated test system |
| CN107632209B (en) * | 2017-08-17 | 2020-05-29 | 北京无线电计量测试研究所 | Position and attitude adjusting mechanism and position and attitude adjusting method for antenna test |
| CN108020217A (en) * | 2017-12-30 | 2018-05-11 | 湖南北斗微芯产业发展有限公司 | A kind of full posture automatic testing method and device |
| CN114235003B (en) * | 2021-11-16 | 2023-08-18 | 中国航空工业集团公司雷华电子技术研究所 | Solution method for motion parameters of airborne radar antenna and attitude measurement system |
| CN114183661B (en) * | 2021-11-24 | 2023-11-10 | 顾守军 | Surveying and mapping visual angle horizontal adjustment mechanism for land surveying and mapping |
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| CN1305091A (en) * | 2001-02-26 | 2001-07-25 | 伍少昊 | Directional stabilizing platform of gyro |
| CN103363902A (en) * | 2013-07-16 | 2013-10-23 | 清华大学 | Dust environment moving object pose detection device and method based on infrared lasers |
| CN103487011A (en) * | 2013-09-06 | 2014-01-01 | 广州畅途软件有限公司 | Method for detecting attitude angle of data glove |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3158852B2 (en) * | 1994-04-15 | 2001-04-23 | 株式会社大林組 | Support device for lightwave distance meter |
| JP5665677B2 (en) * | 2011-07-12 | 2015-02-04 | 株式会社東芝 | Tracking device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1305091A (en) * | 2001-02-26 | 2001-07-25 | 伍少昊 | Directional stabilizing platform of gyro |
| CN103363902A (en) * | 2013-07-16 | 2013-10-23 | 清华大学 | Dust environment moving object pose detection device and method based on infrared lasers |
| CN103487011A (en) * | 2013-09-06 | 2014-01-01 | 广州畅途软件有限公司 | Method for detecting attitude angle of data glove |
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