CN104034354B - 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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- CN104034354B CN104034354B CN201410285699.0A CN201410285699A CN104034354B CN 104034354 B CN104034354 B CN 104034354B CN 201410285699 A CN201410285699 A CN 201410285699A CN 104034354 B CN104034354 B CN 104034354B
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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 orientation system debugs technique, particularly to a kind of imu positioning and orientation system that is applied to
D -180 ° of calibration prism high accuracy debugs technique.
Background technology
Inertial Measurement Unit (imu, inertial measurement unite) is the core of positioning and orientation system,
The precision of imu is largely fixed the final positioning of this system and orientation accuracy.
D -180 ° of calibration prism is the important ingredient of imu positioning and orientation system, uses calibration reflecting mirror in the past
Typically all adopt plane mirror or optics cube, due to the angle of visual field of autocollimation theodolite typically all smaller (general 2 ω=
3 ° about) it is difficult to realize quick auto-collimation, affect geodetic efficiency.Using d -180 ° of calibration prism, optical axis do not need perpendicular to
Prism front surface can achieve auto-collimation, thus realizing the ability of slewing.In order to meet the geodetic under different terrain conditions
Demand, this d -180 ° of calibration prism designs a leveling blister, and this prism is fixed on single-revolution axle it is achieved that answering
Under miscellaneous landform, calibration prismatic adjustment is measured it is ensured that orientation accuracy to horizontal zero.
High accuracy with regard to being applied to the calibration reflecting mirror of imu positioning and orientation system debugs technique, and even common is flat
Face reflecting mirror or optics cube, always there is not yet excessively related document report, and for d -180 ° of calibration prism, it is high-precision
Degree is debug technique and is even more a brand-new exploration field, the inherent pass of such as d -180 ° calibration prism and imu positioning and orientation system
How, during debuging, which factor will influence whether positioning and directing precision and how eliminate these influence factors etc. and have for system
To be solved.
Content of the invention
The present invention based on during d -180 ° of calibration prism Space Rotating with the internal relation of imu positioning and orientation system
Verify, and the determination of the factor of impact positioning and directing precision, there is provided a kind of imu positioning and orientation system debugs technique, is given
The process of 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 orientation system debugs technique, bag
Include following steps:
A), first do not fill calibration prism, draw frock in the fixing rotary axis system of axle head, with clinometer, gyroaxis is drawn；
B), drawn on the basis of frock by the rotary axis system in step a), autocollimation theodolite is positioned over rotary axis system and draws
Go out frock front end, and level-off, adjust theodolite pitching and orientation, frock auto-collimation is drawn to rotary axis system, then by autocollimatic
Straight theodolite pitching and orientation are locked；
C), on the basis of the autocollimation theodolite in step b), and keep machine frame to maintain static, remove axis of rotation and draw
Go out frock, reinstall prism, observe autocollimatic cross picture in corner cube prism for the autocollimation theodolite, adjust the drum of prism group
Wheel, autocollimatic cross picture is aligned, and grinds prism table installed surface and adjusts drum in prism group it is ensured that autocollimation theodolite by repairing
Autocollimatic cross picture is overlapped with autocollimation theodolite graduation central cross line；
D), adjust prism table drum, during the levelling of autocollimatic cross picture, the blister above viewing prism, by reconditioning blister seat
With prism group installed surface, make blister placed in the middle；
E), recheck blister placed in the middle when, autocollimation theodolite autocollimatic cross picture and autocollimation theodolite graduation central cross line
There is zero deflection, if having, repeat step c) and step d)；
F), imu positioning and orientation system is fixed on high-precision two-dimensional turntable, then meridian plane array will be total to by theodolite
The non-device for mark of autocollimator group sets up same vertical meridian plane benchmark, then adjusts dimensional turntable, by common meridian plane array certainly
The non-device for mark of collimator group observe through d -180 ° of calibration prism autocollimatic cross picture it is ensured that dimensional turntable orientation locking after,
During turntable pitching, array autocollimator group autocollimatic cross picture is consistent, and adjusts peace on positioning and orientation system for the imu
Holding position is it is ensured that geographical north is output as a stationary value.
The invention has the beneficial effects as follows: with reference to the operation principle of d -180 ° of calibration prism and imu positioning and orientation system, visit
Internal relation with imu positioning and orientation system during bright d -180 ° of calibration prism Space Rotating, according to d -180 ° of calibration
Prism installation approach and imu positioning and orientation system geodetic service condition, determine the factor of impact positioning and directing precision, and are given
The process of positioning and directing precision of how eliminating the effects of the act, finally make simple, reliable, efficiently debug technique side in high precision
Method.
Brief description
Fig. 1 is the situation of imu vertical axis and the presence vertical error of prism crest line place horizontal plane；
Fig. 2 is imu xoy coordinate surface around the situation turning over；
Fig. 3 is that prism gyroaxis has angle error schematic diagram with prism principal section；
Gyroaxis is drawn schematic diagram for clinometer by Fig. 4；
Fig. 5 be theodolite optical axis and prism table gyroaxis are debug parallel；
Fig. 6 is that theodolite autocollimatic cross hairs draw frock relativeness with axis of rotation；
Fig. 7 is to debug calibration prism on the basis of autocollimation theodolite；
Fig. 8 is the vertical error eliminating imu vertical axis and prism crest line place horizontal plane.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Referring to figs. 1 to shown in Fig. 3, with regard to d -180 ° of calibration prism Space Rotating to imu positioning and orientation system precision
The conclusion of impact is as follows:
1st, imu positioning and orientation system vertical axis z1Exist during vertical error to system accuracy with prism crest line place horizontal plane
Impact as shown in figure 1, imu positioning and orientation system vertical axis z1There is vertical error with prism crest line place horizontal plane, imu is fixed
The xoy coordinate surface of position orientation system and corner cube prism crest line place horizontal plane angle are α1If corner cube prism crest line positions in imu
It is projected as l, then crest line and the angle of l are α on the xoy coordinate surface of orientation system1.
As shown in Fig. 2 imu positioning and orientation system xoy coordinate surface turns over θ around l, if unit vectorIt is respectively
Crest line direction before and after rotation, is p respectively1a、p2A is perpendicular to l, p2Xoy coordinate surface before rotation for the b, and in this face
Do respectivelyNormalThen γ1For
γ1Before and after representing the rotation of xoy coordinate surface, corner cube prism azimuthal change to autocollimation theodolite, is with regard to α1With
The function of θ, therefore, if imu positioning and orientation system vertical axis z1There is vertical error α with prism crest line place horizontal plane1When, will
Influence whether the certainty of measurement of system.
2nd, the prism gyroaxis and prism principal section malalignment impact to system accuracy
As shown in figure 3, when prism gyroaxis and prism principal section have angle error α2When, then prism normal and preferable shape
The prism crest line angle of state is 90 ° of-α2.
When system is around perfect condition prism crest line pitch tilt θ, according to Fig. 2 and Fig. 3, by 90 ° of-α2Replace formula (1)
In α1Can get
γ2Represent prism gyroaxis and there is α with prism principal section2During angle error, after system pitch tilt θ, corner cube prism
Azimuthal change to autocollimation theodolite, therefore also will influence whether the certainty of measurement of system.
It is fixed on single-revolution axle according to d -180 ° of calibration prism, and the structure of a horizontal blister is arranged on this prism
Form, analyzes its operation principle and the actually used situation of imu positioning and orientation system, determines that imu positioning and orientation system is located at
Under different terrain conditions, d -180 ° of calibration prism should keep with imu positioning and orientation system all the time constant output relation this
Core debugs thinking, verifies the internal relation with imu positioning and orientation system during d -180 ° of calibration prism Space Rotating.
With reference to shown in Fig. 4 to Fig. 8, the invention discloses a kind of d -180 ° of calibration prism of imu positioning and orientation system is high-precision
Degree debugs technique, comprises the steps:
A), first do not fill calibration prism, draw frock in the fixing rotary axis system of axle head, with clinometer, gyroaxis is drawn, that is,
Gyroaxis draws frock normal parallel with rotary axis system, as shown in Figure 4.
B), drawn on the basis of frock by the rotary axis system in step a), autocollimation theodolite is positioned over rotary axis system and draws
Go out frock front end, and level-off.Adjust theodolite pitching and orientation, frock auto-collimation is drawn to rotary axis system, then by autocollimatic
Straight theodolite pitching and orientation are locked, as shown in Figure 5.
Illustrate: debug process shown in Fig. 5, the theodolite angle of pitch is not necessarily 90 °, this is because this debugs process is with step
On the basis of in rapid one, rotary axis system draws frock, and rotary axis system extraction frock representative is prism table gyroaxis benchmark, revolution
Shafting draw frock reflecting mirror may not vertical in horizontal plane, as shown in Figure 6.
This Method of Adjustment eliminates and axis of rotation extraction frock reflecting mirror is adjusted to this complicated procedures of forming of vertical horizontal plane, just
It is just the imaging characteristic having used d -180 ° of corner cube prism.
Autocollimation theodolite effect mainly has two: 1. provides a cross horizontal datum；2. by prism table gyroaxis
It is transitioned on theodolite optical axis, by cross horizontal datum, the blister on direct prism crest line and corner cube prism is adjusted simultaneously
Level.
C), c), on the basis of the autocollimation theodolite in step b), and keep machine frame to maintain static, remove gyroaxis
Line draws
Go out frock, reinstall prism, observe autocollimatic cross picture in corner cube prism for the autocollimation theodolite, as Fig. 7 institute
Show.Autocollimatic cross picture now would is that one about has deviation, and the autocollimatic cross picture around the rotation of itself cross searching.Adjust
The drum of prism group, by autocollimatic cross picture align, by repair grind prism table installed surface and adjust prism group on drum it is ensured that from
Collimation theodolite autocollimatic cross picture is overlapped with autocollimation theodolite graduation central cross line.
D), adjust prism table drum, during the levelling of autocollimatic cross picture, the blister above viewing prism, by reconditioning blister seat
With prism group installed surface, make blister placed in the middle.
E), recheck blister placed in the middle when, autocollimation theodolite autocollimatic cross picture and autocollimation theodolite graduation central cross line
There is zero deflection, if having, repeat step c) and d).
F), imu positioning and orientation system is fixed on high-precision two-dimensional turntable, then meridian plane array will be total to by theodolite
The non-device for mark of autocollimator group sets up same vertical meridian plane benchmark, then adjusts dimensional turntable, by common meridian plane array certainly
The non-device for mark of collimator group observe through d -180 ° of calibration prism autocollimatic cross picture it is ensured that dimensional turntable orientation locking after,
During turntable pitching, array autocollimator group autocollimatic cross picture is consistent, and adjusts peace on positioning and orientation system for the imu
Holding position is it is ensured that geographical north is output as a stationary value, as shown in Figure 8.
The non-detailed description of the present invention is known to the skilled person technology.
The overall plan of the present invention is:
Analysis causes the influence factor of systematic measurement error in terms of debuging calibration, determines and debugs control point and eliminate by mistake
The method of difference, is given by clinometer, rotary axis system draws frock can the plane mirror that adjust, auto-collimation longitudes and latitudes at 3 points of
Instrument, high-precision two-dimensional turntable, the common non-device for mark of meridian plane array autocollimator group realize the process that high accuracy is debug.
Analyzing that imu positioning and orientation system vertical axis and prism crest line place horizontal plane exist will be to system during vertical error
Precision produces impact.First imu positioning and orientation system is fixed on high-precision two-dimensional turntable, then (may not be used by theodolite herein
Band auto-collimation function) non-for common meridian plane array autocollimator group device for mark is set up same vertical meridian plane benchmark, then adjust
Dimensional turntable, observes the autocollimatic cross through d -180 ° of calibration prism by the non-device for mark of common meridian plane array autocollimator group
As it is ensured that after the locking of dimensional turntable orientation, during turntable pitching, array autocollimator group autocollimatic cross picture is consistent, adjusting
Installation site on positioning and orientation system for the whole imu positioning and orientation system is it is ensured that geographical north is output as a stationary value, you can eliminate
Imu positioning and orientation system vertical axis and the vertical error of prism crest line place horizontal plane.
By using autocollimation theodolite, d -180 ° of calibration prism crest line and horizontal blister are debug level simultaneously, that is,
Realize blister leveling and can represent d -180 ° of calibration prism crest line level.
Analyze d -180 ° of calibration prism gyroaxis, with prism principal section malalignment, system accuracy will be produced with impact.
First pass through rotary axis system extraction frock 3 points of plane mirrors adjusting, clinometers to draw gyroaxis,
Then by autocollimation theodolite successively respectively with plane mirror, d -180 ° of calibration prism auto-collimation, repair and grind prism and picture frame
Installed surface, you can eliminate prism gyroaxis and prism principal section malalignment error.
D -180 ° of calibration prism gyroaxis shakes, the malalignment of prism crest line and prism front surface, also will be to system
Precision produces impact, and therefore prism gyroaxis need to adopt high-precision bearing, and prism processing need to strictly improve prism crest line and rib
The collimation of mirror front surface requires.
The inventive method is actually used according to the operation principle of d -180 ° of calibration prism and imu positioning and orientation system
Situation is it is determined that realize the core thinking that high accuracy debugs process；And d -180 ° of calibration prism Space Rotating is imaged
Theory is more deeply studied, and has verified imu positioning and orientation system and has been located under different terrain conditions, d -180 ° of calibration
Internal relation with imu positioning and orientation system during prism Space Rotating；And then from d -180 ° of calibration prism debug and
Calibration aspect analyzes the influence factor causing systematic measurement error it is determined that debuging control point and the method eliminating error,
Give the process debug of high accuracy, and imu positioning and orientation system actually used in be verified, its precision reaches
Arrive domestically leading level.
The first development research of d -180 ° of calibration prism Space Rotating imaging theory and the derivation work of formula, understanding d -
The Space Rotating imaging characteristicses of 180 ° of calibration prisms, in conjunction with the work of d -180 ° of calibration prism and imu positioning and orientation system
Principle, verifies the internal relation with imu positioning and orientation system during d -180 ° of calibration prism Space Rotating, according to d -
180 ° of calibration prism installation approach and imu positioning and orientation system geodetic service condition, determine the positioning and directing essence of impact system
The factor of degree, and provide the process of positioning and directing precision of how eliminating the effects of the act, finally make simple, reliable, efficient
High accuracy debugs process.
Above-described is only the preferred embodiment of the present invention it is noted that for those of ordinary skill in the art
For, without departing from the concept of the premise of the invention, some deformation can also be made and improve, these broadly fall into the present invention
Protection domain.
Claims (1)
1. a kind of imu positioning and orientation system debugs technique it is characterised in that comprising the steps:
A), first do not fill calibration prism, draw frock in the fixing rotary axis system of axle head, with clinometer, gyroaxis is drawn；
B), drawn on the basis of frock by the rotary axis system in step a), autocollimation theodolite is positioned over rotary axis system and draws work
Dress front end, and level-off, adjust theodolite pitching and orientation, draw frock auto-collimation to rotary axis system, then by auto-collimation warp
Latitude instrument pitching and orientation are locked；
C), on the basis of the autocollimation theodolite in step b), and keep machine frame to maintain static, remove axis of rotation and draw work
Dress, reinstalls prism, observes autocollimatic cross picture in corner cube prism for the autocollimation theodolite, adjusts the drum of prism group, will
Autocollimatic cross picture is aligned, and grinds prism table installed surface and adjusts drum in prism group it is ensured that autocollimation theodolite autocollimatic by repairing
Cross picture is overlapped with autocollimation theodolite graduation central cross line；
D), adjust prism table drum, during the levelling of autocollimatic cross picture, the blister above viewing prism, by reconditioning blister seat and rib
Microscope group installed surface, makes blister placed in the middle；
E), when, reinspection blister is placed in the middle, autocollimation theodolite autocollimatic cross picture is had or not with autocollimation theodolite graduation central cross line
Deviation, if having, repeat step c) and step d)；
F), imu positioning and orientation system is fixed on high-precision two-dimensional turntable, then meridian plane array autocollimatic will be total to by theodolite
The straight non-device for mark of instrument group sets up same vertical meridian plane benchmark, then adjusts dimensional turntable, by common meridian plane array auto-collimation
The non-device for mark of instrument group observes the autocollimatic cross picture through d -180 ° of calibration prism it is ensured that after the locking of dimensional turntable orientation, turning
During platform pitching, array autocollimator group autocollimatic cross picture is consistent, and adjusts installation position on positioning and orientation system for the imu
Put it is ensured that geographical north is output as a stationary value.
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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 |
| 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 |
| 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 |
| 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 |
| CN107481289B (en) * | 2017-07-13 | 2020-07-03 | 西安应用光学研究所 | Precise target system and method for far-field calibration of large-field-of-view camera |
| CN114019691B (en) * | 2021-10-28 | 2022-08-19 | 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 |
| 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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