CN104034354A - Alignment process for IMU (Inertial Measurement Unit) position and azimuth determining system - Google Patents
Alignment process for IMU (Inertial Measurement Unit) position and azimuth determining system Download PDFInfo
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- CN104034354A CN104034354A CN201410285699.0A CN201410285699A CN104034354A CN 104034354 A CN104034354 A CN 104034354A CN 201410285699 A CN201410285699 A CN 201410285699A CN 104034354 A CN104034354 A CN 104034354A
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- prism
- imu
- autocollimatic
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention discloses an alignment process for an IMU (Inertial Measurement Unit) position and azimuth determining system. The method combines the operating principles of a DII-180-degree calibration prism and the IMU position and azimuth determining system to verify the internal relation between the DII-180-degree calibration prism and the IMU position and azimuth determining system in space rotation process. According to the mounting type of the DII-180-degree calibration prism and the geodetic using condition of the IMU position and azimuth determining system, factors for influencing the precision of the position and azimuth determining system are determined, and a process method for eliminating the factors for influencing the precision of the position and azimuth determining system is provided. Finally, the simple, reliable and efficient high-precision alignment process method is developed.
Description
Technical field
The present invention relates to IMU positioning and directing system and debug technique, particularly a kind of D II-180 of the IMU of being applied to positioning and directing system ° calibration prism high precision is debug technique.
Background technology
Inertial Measurement Unit (IMU, Inertial Measurement Unite) is the core of positioning and directing system, and the precision of IMU is determining the locating and orienting precision that this system is final to a great extent.
D II-180 ° calibration prism is the important ingredient of IMU positioning and directing system, used calibration catoptron generally all to adopt plane mirror or optics side's body in the past, due to generally all smaller (° left and right, general 2 ω=3) of the field angle of autocollimation theodolite, be difficult to realize quick autocollimation, affect geodetic efficiency.Use D II-180 ° calibration prism, optical axis need to can not be realized autocollimation perpendicular to prism front surface, thereby realizes the ability of slewing.In order to meet the geodetic demand under different terrain conditions, on ° calibration prism of these D II-180, design a leveling bubble, and this prism is fixed on single-revolution axle, realize under complex-terrain calibration prismatic adjustment has been measured to horizontal zero, ensure orientation accuracy.
High precision about the calibration catoptron that is applied to IMU positioning and directing system is debug technique, even if common plane mirror or optics side's body, there is not yet always and be relevant bibliographical information, and for D II-180 ° calibration prism, its high precision is debug a technique brand-new exploration field especially, as the internal relation of D II-180 ° calibration prism and IMU positioning and directing system how, will have influence on positioning and directing precision and how eliminate these influence factors etc. and have to be solved debuging in process which factor.
Summary of the invention
The present invention is based in ° calibration prism Space Rotating process of D II-180 and the verifying of the internal relation of IMU positioning and directing system, and affect positioning and directing precision factor determine, provide a kind of IMU positioning and directing system to debug technique, provided the process of the positioning and directing precision of how eliminating the effects of the act.
The technical solution adopted for the present invention to solve the technical problems is: a kind of IMU positioning and directing system is debug technique, comprises the steps:
A), first do not fill calibration prism, draw frock at the fixing rotary axis system of axle head, revolving shaft is drawn with angular instrument;
B), draw frock as benchmark taking the rotary axis system in step a), autocollimation theodolite is positioned over to rotary axis system and draws frock front end, and level-off, transit pitching and orientation regulated, rotary axis system is drawn to frock autocollimation, then by locked to autocollimation theodolite pitching and orientation;
C), taking the autocollimation theodolite in step b) as benchmark, and keep machine frame to maintain static, remove axis of rotation and draw frock, reinstall prism, observe autocollimation theodolite through the autocollimatic cross picture in right-angle prism, regulate the drum of prism group, cross picture is aligned, grind prism table installed surface and regulate the drum in prism group by repairing, guaranteeing that autocollimatic inconocenter overlaps;
D), regulate prism table drum, when the levelling of cross picture, the bubble of viewing prism top, by reconditioning bubble seat and prism group installed surface, makes bubble placed in the middle;
E), recheck bubble time placed in the middle, transit autocollimatic cross picture and transit graduation central cross line have bias free, if having repeating step c) and step d);
F), IMU positioning and directing system is fixed on high-precision two-dimensional turntable, to be total to the non-device for mark of meridian ellipse array autocollimator group by transit again and set up same vertical meridian ellipse benchmark, then adjust two-dimentional turntable, observe the autocollimatic picture through D II-180 ° calibration prism by the non-device for mark of common meridian ellipse array autocollimator group, guarantee after the locking of two-dimentional turntable orientation, in turntable pitching process, array autocollimator group autocollimatic looks like to be consistent, adjust the installation site of IMU in positioning and directing system, ensure that geographical north is output as a stationary value.
The invention has the beneficial effects as follows: in conjunction with the principle of work of D II-180 ° calibration prism and IMU positioning and directing system, verify in ° calibration prism Space Rotating process of D II-180 internal relation with IMU positioning and directing system, according to D II-180 ° calibration prism, pattern and IMU positioning and directing system geodetic service condition are installed, determine the factor that affects positioning and directing precision, and provide the process of the positioning and directing precision of how eliminating the effects of the act, finally make simple, reliable, high precision is debug process efficiently.
Brief description of the drawings
Fig. 1 is the situation that has vertical error of IMU vertical axis and prism crest line place surface level;
Fig. 2 is the situation that IMU XOY coordinate surface rotated;
Fig. 3 is that prism revolving shaft and prism principal section exist angle error schematic diagram;
Fig. 4 is that revolving shaft is drawn schematic diagram by angular instrument;
Fig. 5 is for to debug parallel by transit optical axis with prism table revolving shaft;
Fig. 6 is that transit autocollimatic cross curve and axis of rotation are drawn frock relativeness;
Fig. 7 is for debuging calibration prism taking autocollimation theodolite as benchmark;
Fig. 8 is the vertical error of eliminating IMU vertical axis and prism crest line place surface level.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Shown in Fig. 3, as follows about the conclusion of the D II-180 ° impact of calibration prism Space Rotating on IMU positioning and directing system accuracy:
1, IMU positioning and directing system vertical axis
impact on system accuracy while there is vertical error with prism crest line place surface level
As shown in Figure 1, IMU positioning and directing system vertical axis
have vertical error with prism crest line place surface level, the XOY coordinate surface of IMU positioning and directing system and right-angle prism crest line place horizontal plane angle are
, establish right-angle prism crest line being projected as on the XOY coordinate surface of IMU positioning and directing system
, crest line with
angle be
.
As shown in Figure 2, IMU positioning and directing system XOY coordinate surface around
turn over
, establish vector of unit length
,
be respectively the crest line direction of rotation front and back, do respectively
,
perpendicular to
,
perpendicular to the XOY coordinate surface before rotation, and do respectively in this face
,
normal
,
,
for
represent before and after XOY coordinate surface rotation, right-angle prism is to the azimuthal variation of autocollimation theodolite, be about
with
function, therefore, if IMU positioning and directing system vertical axis
there is vertical error with prism crest line place surface level
time, will have influence on the measuring accuracy of system.
2, prism revolving shaft and the impact of prism principal section malalignment on system accuracy
As shown in Figure 3, when prism revolving shaft and prism principal section exist angle error
time, the prism crest line angle of prism normal and perfect condition is
.
When system is around perfect condition prism crest line pitch tilt
time, according to Fig. 2 and Fig. 3, will
replace in formula (1)
can obtain
（2）
represent that prism revolving shaft and prism principal section exist
when angle error, system pitch tilt
after, right-angle prism, to the azimuthal variation of autocollimation theodolite, therefore also will have influence on the measuring accuracy of system.
Be fixed on single-revolution axle according to a D II-180 ° calibration prism, and the version of a horizontal bubble is set on this prism, analyze the actual service condition of its principle of work and IMU positioning and directing system, determine that IMU positioning and directing system is positioned under different terrain conditions, D II-180 ° calibration prism should be all the time keeps constant this core of output relation to debug thinking with IMU positioning and directing system, verifies in ° calibration prism Space Rotating process of D II-180 internal relation with IMU positioning and directing system.
With reference to shown in Fig. 4 to Fig. 8, the invention discloses a kind of IMU positioning and directing system D II-180 ° calibration prism high precision and debug technique, comprise the steps:
A), first do not fill calibration prism, draw frock at the fixing rotary axis system of axle head, with angular instrument, revolving shaft is drawn, revolving shaft and rotary axis system are drawn frock normal parallel, as shown in Figure 4.
B), draw frock as benchmark taking the rotary axis system in step a), autocollimation theodolite is positioned over to rotary axis system and draws frock front end, and level-off.Regulate transit pitching and orientation, rotary axis system is drawn to frock autocollimation, then by locked to autocollimation theodolite pitching and orientation, as shown in Figure 5.
Illustrate: the process of debuging shown in Fig. 5, the transit angle of pitch may not be 90 °, this is to be to draw frock as benchmark taking rotary axis system in step 1 because this debugs process, prism table revolving shaft benchmark and rotary axis system is drawn frock representative, rotary axis system draw frock catoptron may not vertical in surface level, as shown in Figure 6.
This Method of Adjustment has saved draws frock catoptron by axis of rotation and is adjusted to this complicated procedures of forming of vertical surface level, has used exactly the imaging characteristic of D II-180 ° right-angle prisms.
Autocollimation theodolite effect mainly contains two: 1. a cross horizontal datum is provided; 2. prism table revolving shaft is transitioned on transit optical axis, by cross horizontal datum, by the level-off simultaneously of the bubble on direct prism crest line and right-angle prism.
C), taking the autocollimation theodolite in step b) as benchmark, and keep machine frame to maintain static, remove axis of rotation and draw frock, reinstall prism, observe autocollimation theodolite through the autocollimatic cross picture in right-angle prism, as shown in Figure 7.Autocollimatic picture now will be that a left and right has deviation, and around the cross picture of self cross central rotation.Regulate the drum of prism group, by the levelling of cross picture, grind prism table installed surface and regulate the drum in prism group by repairing, guarantee that autocollimatic inconocenter overlaps.
D), regulate prism table drum, when the levelling of cross picture, the bubble of viewing prism top, by reconditioning bubble seat and prism group installed surface, makes bubble placed in the middle.
E), recheck bubble time placed in the middle, transit autocollimatic cross picture and transit graduation central cross line have bias free, if having, repeating step c) and d).
F), IMU positioning and directing system is fixed on high-precision two-dimensional turntable, to be total to the non-device for mark of meridian ellipse array autocollimator group by transit again and set up same vertical meridian ellipse benchmark, then adjust two-dimentional turntable, observe the autocollimatic picture through D II-180 ° calibration prism by the non-device for mark of common meridian ellipse array autocollimator group, guarantee after the locking of two-dimentional turntable orientation, in turntable pitching process, array autocollimator group autocollimatic looks like to be consistent, adjust the installation site of IMU in positioning and directing system, ensure that geographical north is output as a stationary value, as shown in Figure 8.
The present invention not detailed description is known to the skilled person technology.
Overall plan of the present invention is:
Analyze the influence factor that causes systematic measurement error aspect calibration debuging, determine and debug reference mark and eliminate the method for error, provide by angular instrument, rotary axis system and draw frock---plane mirror, autocollimation theodolite, high-precision two-dimensional turntable that can 3 adjustings, the non-device for mark of meridian ellipse array autocollimator group be realized the process that high precision is debug altogether.
Analyze when IMU positioning and directing system vertical axis and prism crest line place surface level exist vertical error and will exert an influence to system accuracy.First IMU positioning and directing system is fixed on high-precision two-dimensional turntable, to be total to the non-device for mark of meridian ellipse array autocollimator group by transit (can not be with autocollimation function herein) again and set up same vertical meridian ellipse benchmark, then adjust two-dimentional turntable, observe the autocollimatic picture through D II-180 ° calibration prism by the non-device for mark of common meridian ellipse array autocollimator group, guarantee after the locking of two-dimentional turntable orientation, in turntable pitching process, array autocollimator group autocollimatic looks like to be consistent, adjust the installation site of IMU positioning and directing system in positioning and directing system, ensure that geographical north is output as a stationary value, can eliminate the vertical error of IMU positioning and directing system vertical axis and prism crest line place surface level.
By using autocollimation theodolite, D II-180 ° calibration prism crest line and horizontal bubble are debug to level simultaneously, realize bubble leveling and can represent D II-180 ° calibration prism crest line level.
Analyzing D II-180 ° calibration prism revolving shaft and prism principal section malalignment will exert an influence to system accuracy.
First draw frock by rotary axis system---plane mirror, angular instrument that can 3 adjustings be drawn revolving shaft, then by autocollimation theodolite successively respectively with plane mirror, D II-180 ° calibration prism autocollimation, repair the installed surface that grinds prism and picture frame, can eliminate prism revolving shaft and prism principal section malalignment error.
The malalignment of ° calibration prism revolving shaft rolling of D II-180, prism crest line and prism front surface, also will exert an influence to system accuracy, therefore prism revolving shaft need adopt high-precision bearing, and prism processing needs the strict collimation requirement that improves prism crest line and prism front surface.
The inventive method is according to the actual service condition of the principle of work of D II-180 ° calibration prism and IMU positioning and directing system, determined the core thinking that realizes high precision and debug process; And a D II-180 ° calibration prism Space Rotating imaging theory has been carried out more deeply to research, verified IMU positioning and directing system and be positioned under different terrain conditions, in ° calibration prism Space Rotating process of D II-180 with the internal relation of IMU positioning and directing system; And then debuging with calibration aspect of ° calibration prism analyzed the influence factor that causes systematic measurement error from D II-180, determine the method for debuging reference mark and eliminating error, provide the process that high precision is debug, and having obtained checking in the actual use of IMU positioning and directing system, its precision has reached domestically leading level.
First carry out the research of D II-180 ° calibration prism Space Rotating imaging theory and the derivation work of formula, understand the Space Rotating imaging characteristics of D II-180 ° calibration prism, again in conjunction with the principle of work of D II-180 ° calibration prism and IMU positioning and directing system, verify in ° calibration prism Space Rotating process of D II-180 internal relation with IMU positioning and directing system, according to D II-180 ° calibration prism, pattern and IMU positioning and directing system geodetic service condition are installed, determine the factor of the positioning and directing precision of the system of impact, and provide the process of the positioning and directing precision of how eliminating the effects of the act, finally make simple, reliably, high precision is debug process efficiently.
Above-described is only the preferred embodiment of the present invention, it should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise of the invention, can also make some distortion and improvement, and these all belong to protection scope of the present invention.
Claims (1)
1. IMU positioning and directing system is debug a technique, it is characterized in that, comprises the steps:
A), first do not fill calibration prism, draw frock at the fixing rotary axis system of axle head, revolving shaft is drawn with angular instrument;
B), draw frock as benchmark taking the rotary axis system in step a), autocollimation theodolite is positioned over to rotary axis system and draws frock front end, and level-off, transit pitching and orientation regulated, rotary axis system is drawn to frock autocollimation, then by locked to autocollimation theodolite pitching and orientation;
C), taking the autocollimation theodolite in step b) as benchmark, and keep machine frame to maintain static, remove axis of rotation and draw frock, reinstall prism, observe autocollimation theodolite through the autocollimatic cross picture in right-angle prism, regulate the drum of prism group, cross picture is aligned, grind prism table installed surface and regulate the drum in prism group by repairing, guaranteeing that autocollimatic inconocenter overlaps;
D), regulate prism table drum, when the levelling of cross picture, the bubble of viewing prism top, by reconditioning bubble seat and prism group installed surface, makes bubble placed in the middle;
E), recheck bubble time placed in the middle, transit autocollimatic cross picture and transit graduation central cross line have bias free, if having repeating step c) and step d);
F), IMU positioning and directing system is fixed on high-precision two-dimensional turntable, to be total to the non-device for mark of meridian ellipse array autocollimator group by transit again and set up same vertical meridian ellipse benchmark, then adjust two-dimentional turntable, observe the autocollimatic picture through D II-180 ° calibration prism by the non-device for mark of common meridian ellipse array autocollimator group, guarantee after the locking of two-dimentional turntable orientation, in turntable pitching process, array autocollimator group autocollimatic looks like to be consistent, adjust the installation site of IMU in positioning and directing system, ensure that geographical north is output as a stationary value.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613981A (en) * | 2014-12-17 | 2015-05-13 | 中国人民解放军63863部队 | Inertial-navigation dynamic directional precision testing system |
| CN104697747A (en) * | 2014-12-19 | 2015-06-10 | 北京兴华机械厂 | Method for detecting optical alignment prism mounting accuracy deviation calibration of platform system |
| CN105423957A (en) * | 2015-11-17 | 2016-03-23 | 中国科学院长春光学精密机械与物理研究所 | Rotation shaft rotation angle measuring method restraining shafting dip angle rotation error |
| CN105629214A (en) * | 2014-10-29 | 2016-06-01 | 北京航天计量测试技术研究所 | Adjusting method for consistency between laser radar azimuth axis and optical axis |
| CN106323342A (en) * | 2016-11-02 | 2017-01-11 | 天津津航技术物理研究所 | High-precision leading-out method for rotation axis of aerial scanner |
| CN107481289A (en) * | 2017-07-13 | 2017-12-15 | 西安应用光学研究所 | The precision target drone system and method for big visual field camera far field calibration |
| CN113295189A (en) * | 2021-06-08 | 2021-08-24 | 江苏北方湖光光电有限公司 | Calibration device for consistency of strapdown inertial navigation shaft and autocollimator shaft in photoelectric boresight |
| CN114019691A (en) * | 2021-10-28 | 2022-02-08 | 中国科学院西安光学精密机械研究所 | High-spectral imaging system precise adjustment integration process method based on Fery prism |
| CN114087132A (en) * | 2021-11-15 | 2022-02-25 | 中国华能集团清洁能源技术研究院有限公司 | Positioning method for tower cylinder installation |
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| CN105629214B (en) * | 2014-10-29 | 2017-11-28 | 北京航天计量测试技术研究所 | A kind of laser radar azimuth axis and light axis consistency method of adjustment |
| CN105629214A (en) * | 2014-10-29 | 2016-06-01 | 北京航天计量测试技术研究所 | Adjusting method for consistency between laser radar azimuth axis and optical axis |
| CN104613981A (en) * | 2014-12-17 | 2015-05-13 | 中国人民解放军63863部队 | Inertial-navigation dynamic directional precision testing system |
| CN104697747B (en) * | 2014-12-19 | 2017-09-26 | 北京兴华机械厂 | A kind of optical laying prism installation accuracy deviation demarcation detection method of plateform system |
| CN104697747A (en) * | 2014-12-19 | 2015-06-10 | 北京兴华机械厂 | Method for detecting optical alignment prism mounting accuracy deviation calibration of platform system |
| CN105423957B (en) * | 2015-11-17 | 2017-12-26 | 中国科学院长春光学精密机械与物理研究所 | A kind of measuring method for the shaft rotary corner for suppressing angle of shafting declivity turn error |
| CN105423957A (en) * | 2015-11-17 | 2016-03-23 | 中国科学院长春光学精密机械与物理研究所 | Rotation shaft rotation angle measuring method restraining shafting dip angle rotation error |
| CN106323342A (en) * | 2016-11-02 | 2017-01-11 | 天津津航技术物理研究所 | High-precision leading-out method for rotation axis of aerial scanner |
| CN106323342B (en) * | 2016-11-02 | 2018-12-18 | 天津津航技术物理研究所 | The high-precision outbound course of airborne scanner axis of rotation |
| CN107481289A (en) * | 2017-07-13 | 2017-12-15 | 西安应用光学研究所 | The precision target drone system and method for big visual field camera far field calibration |
| CN113295189A (en) * | 2021-06-08 | 2021-08-24 | 江苏北方湖光光电有限公司 | Calibration device for consistency of strapdown inertial navigation shaft and autocollimator shaft in photoelectric boresight |
| CN114019691A (en) * | 2021-10-28 | 2022-02-08 | 中国科学院西安光学精密机械研究所 | High-spectral imaging system precise adjustment integration process method based on Fery prism |
| CN114087132A (en) * | 2021-11-15 | 2022-02-25 | 中国华能集团清洁能源技术研究院有限公司 | Positioning method for tower cylinder installation |
| CN114087132B (en) * | 2021-11-15 | 2024-01-19 | 中国华能集团清洁能源技术研究院有限公司 | Positioning method for tower barrel installation |
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