CN104266649B - Method based on gyrotheodolite measuring basis prism square attitude angle - Google Patents
Method based on gyrotheodolite measuring basis prism square attitude angle Download PDFInfo
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- CN104266649B CN104266649B CN201410550699.9A CN201410550699A CN104266649B CN 104266649 B CN104266649 B CN 104266649B CN 201410550699 A CN201410550699 A CN 201410550699A CN 104266649 B CN104266649 B CN 104266649B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Abstract
The invention discloses a kind of method based on gyrotheodolite measuring basis prism square coordinate system pose angle matrix relative to the earth, this method distinguishes two sides of arbitrary neighborhood on alignment measurement benchmark prism square using gyrotheodolite and electronic theodolite, measurement obtains the zenith distance of azimuth, zenith distance and the electronic theodolite direction of collimation of gyrotheodolite direction of collimation, and the azimuth for obtaining electronic theodolite direction of collimation is solved by the vertical relation in two faces, finally give benchmark prism square coordinate system pose angle matrix relative to the earth.The measuring method of the present invention, saves a gyrotheodolite, so as to reduce cost, while it also avoid mutually taking aim between plain transit and gyrotheodolite, improves measurement accuracy and measurement efficiency, overcomes light path when mutually being taken aim under complex working condition and block.
Description
Technical field
The invention belongs to technical field of industrial measurement, and in particular to one kind comprehensive utilization gyrotheodolite and electronic theodolite
The method of measuring basis prism square coordinate system pose angle relative to the earth, this method can be used for spacecraft, aircraft, ship etc. and be
Relative attitude angular surveying on system between the finger north measurement of inertial equipment and equipment.
Background technology
, it is necessary to essence in the modern large-scale precision system integration manufacture by representative of spacecraft experiment and process of the test
The attitude angle of close measurement inertial equipment coordinate system relative to the earth.Tested inertial equipment is generally characterized using benchmark prism square
The body coordinate system of equipment, the reference axis of apparatus body coordinate system is represented with 3 on prism square mutually orthogonal level crossing normals
Point to.Therefore, the attitude angle of measurement inertial equipment coordinate system relative to the earth, exactly measures the orthogonal mirror normal of prism square 3
The attitude angle of coordinate system relative to the earth.
Generally, the appearance of measuring basis prism square (benchmark prism square is generally arranged on object under test) coordinate system relative to the earth
State angle is frequently with two methods, and one is successively accurate using two gyrotheodolite difference alignment measurements or a gyrotheodolite
Two orthogonal sides of straight measuring basis prism square, vector of the measurement mirror normal under earth coordinates, finally by fork
Multiplied to arrive vector of three mirror normals of prism square under earth coordinates, the Yang Zaihua of such as this project team exists《Spacecraft ring
Border engineering》The 5th interim " precision measure new method of spacelab " delivered of volume 26 in 2009.Another method is to utilize
One gyrotheodolite and an electronic theodolite, one side facet normal of prism square is measured in geodetic coordinates using gyrotheodolite
Vector under system, utilizes the method for any one side adjacent with first minute surface on electronic theodolite alignment measurement prism square
Line, and mutually taken aim at gyrotheodolite, vector of all mirror normals of prism square under earth coordinates is obtained by angle transmission,
Such as Ren Chunzhen exists《Spacecraft Environment Engineering》2011 volume 28 the 6th it is interim deliver " gyrotheodolite is produced in large-scale space flight
Described in application in product accurate measurement ".Using first method, two gyrotheodolite measurement costs are higher, and due to gyro warp
It is longer that latitude instrument refers to northern search time, and measurement efficiency is relatively low when measuring two minute surfaces using gyrotheodolite.Using second method
Due to using an one of minute surface of electronic theodolite alignment measurement, reducing cost and improving measurement efficiency, but the party
Method needs mutually to take aim between electronic theodolite and gyrotheodolite, therefore reduces precision, and under some complicated field working conditions,
It is blocked, implements relatively difficult due to mutually taking aim at light path.
The measuring method proposed in the present invention a, it is only necessary to gyrotheodolite and an electronic theodolite, but need not
Gyrotheodolite and electronic theodolite, which are mutually taken aim at, can measure the attitude angle for obtaining benchmark prism square coordinate system relative to the earth.No
Measurement links are only reduced, measurement accuracy and measurement efficiency is also improved, and the light path avoided in mutually taking aim at is blocked.With China
The space technologies such as moon exploration program, manned engineering develop, to the demand of measuring basis prism square coordinate system pose angle relative to the earth
Also it is more and more, therefore the patent is with a wide range of applications, and can promote the large-scale complicated system collection such as following space flight and aviation
Into manufacturing development.
The content of the invention
It is an object of the invention to provide a kind of orthogonality based between tested benchmark prism square mirror normal, top is utilized
The zenith distance that zenith distance, azimuth and the electronic theodolite of spiral shell theodolite collimation are collimated, calculates tested benchmark prism square relative
The attitude angle of earth coordinates.This method avoid mutually taking aim between electronic theodolite and gyrotheodolite, measurement is improved
Precision and measurement efficiency, it is to avoid the light path in mutually taking aim at is blocked.
To achieve the above objectives, the technical solution adopted by the present invention is：
A kind of method based on gyrotheodolite measuring basis prism square coordinate system pose angle relative to the earth, this method
Implement using gyrotheodolite, electronic theodolite and benchmark prism square, gyrotheodolite is measurable to obtain azimuth and zenith distance；
Electronic theodolite is measurable to obtain zenith distance；Orthogonal benchmark prism square includes six faces, four adjacent sides and relative up and down
Top surface and bottom surface, gyrotheodolite G during measurement1Alignment measurement benchmark prism square CbAny one side (being designated as A faces), obtain
Observation to the azimuth of gyrotheodolite and zenith distance is respectively α1, V1, it is designated as (α1, V1), electronic theodolite T2Collimation is surveyed
Measure benchmark prism square CbUpper any one side (be labeled as B face) adjacent with A faces, obtains the sight of the zenith distance of electronic theodolite
Measured value is V2, it is 90 ° according to two adjacent surface angles of orthogonal benchmark prism square, electronic theodolite T is asked for by below equation2Collimation
The azimuth angle alpha in direction2：
(1) as electronic theodolite T2The gyrotheodolite G in Fig. 41Right positions when,
α2=α1+arccos(-cot(V1)cot(V2))；
(2) as electronic theodolite T2The gyrotheodolite G in Fig. 41Leftward position when,
α2=α1-arccos(-cot(V1)cot(V2))；
Finally giving benchmark prism square, coordinate system pose angle matrix is relative to the earth：
Wherein：
{ax,ay,az}={ sin (V1)·cos(α1),sin(V1)·sin(α1),cos(V1)}
{bx,by,bz}={ sin (V2)·cos(α2),sin(V2)·sin(α2),cos(V2)}
{cx,cy,cz}={ ax,ay,az}×{bx,by,bz}
Wherein azimuth angle alpha1、α2With zenith distance V1、V2With respect to earth coordinates, geodetic coordinates origin can in the present invention
To take optional position, coordinate system+Z axis is that vertical big ground horizontal plane points to zenith direction by origin ,+X-axis is to be pointed to by origin
The geographic north of the earth according to right-hand rule to determining+Y-axis.Azimuth angle alpha1、α2For the projection of direction of collimation in the horizontal plane with
The angle of earth coordinates+X-axis, zenith distance is direction of collimation and the angle of earth coordinates+Z axis.
Gyrotheodolite G1Alignment measurement benchmark prism square CbA faces, the list of the A faces normal of formation under earth coordinates
Bit vector is expressed as formula (1)：
Assuming that electronic theodolite T2Alignment measurement prism square CbB surface azimuths be α2(directly it can not be surveyed by electronic theodolite
Measure), unit vector of the B faces normal under earth coordinates is can obtain for formula (2)：
Due to benchmark prism square CbTwo minute surfaces A, B normal are orthogonal, axbx+ayby+azbz=0, therefore obtain formula
(3)：
cos(α1)cos(α2)+sin(α1)sin(α2)=- cot (V1)cot(V2) (3)
Obtained after being resolved to formula (3)：As electronic theodolite T2The gyrotheodolite G in Fig. 41Right positions when, α2
=α1+arccos(-cot(V1)cot(V2))；As electronic theodolite T2The gyrotheodolite G in Fig. 41Leftward position when α2
=α1-arccos(-cot(V1)cot(V2)).Obtained α2Value is brought into formula (2), and calculating obtains prism square CbB faces
Unit vector of the normal under earth coordinates.
Finally by prism square CbThe unit vector multiplication cross of A faces normal and B faces normal obtain prism square CbTop surface (mark
For C faces) unit vector of the mirror normal under earth coordinates, calculate as shown in formula (4)：
{cx,cy,cz}={ ax,ay,az}×{bx,by,bz} (4)
Finally shown in tested attitude angle matrix such as formula (5) of the benchmark prism square under earth coordinates：
In the method for the invention, measurement apparatus mainly includes：Gyrotheodolite, electronic theodolite, tested benchmark cube
Mirror.Gyrotheodolite is used for a side for collimating tested benchmark prism square, provides the side facet normal relative to earth coordinates
Zenith distance and azimuth.Electronic theodolite is used for another side for collimating tested benchmark prism square, provides the side facet normal
Relative to the zenith distance of earth coordinates.
Herein, term " benchmark prism square " is orthogonal 6 face made with an optical glass body, as shown in figure 1, bag
Top surface, bottom surface and 4 sides are included, each face is coated with reflectance coating.Every two adjacent mirror surface normals are mutually orthogonal, 3
Mutually orthogonal mirror normal represents reference axis x, y, the z sensing of direct orthonormal coordinate system.
Term " tested benchmark prism square "：The benchmark prism square pasted on equipment under test, the coordinate system of benchmark prism square
Represent the Installation posture coordinate system of equipment under test.
Term " earth coordinates "：As shown in Fig. 2 coordinate origin points to zenith direction as+Z using vertical big ground horizontal plane
Direction of principal axis, it is+X-direction to point to geographical direct north, and+Y direction is determined by right-hand rule.
Term " zenith distance "：Tested mirror normal and the angle of earth coordinates+Z-direction, are marked with V herein.
Term " azimuth "：Tested mirror normal and the angle that earth coordinates+X-direction is direct north, herein
Marked with α.
Term " attitude angle matrix "：Relative 3 seats with reference to rectangular coordinate system of 3 reference axis of tested rectangular coordinate system
3 × 3 angle matrix that the space angle of parameter is constituted, as shown in Figure 3.
The present invention has following beneficial effect：
The measuring method of the present invention, saves a gyrotheodolite, so that cost is reduced, while it also avoid electronics
Mutually taking aim between theodolite and gyrotheodolite, improves measurement accuracy and measurement efficiency, overcomes under complex working condition when mutually taking aim at
Light path block.This method is applied in the testing experiment of No. three lunar orbiters of the goddess in the moon.
Brief description of the drawings
Fig. 1 is tested benchmark prism square schematic diagram in the present invention.
Fig. 2 points to schematic diagram for earth coordinates in the present invention.
Fig. 3 is attitude angle matrix schematic diagram of the tested coordinate system with respect to reference frame in the present invention.
Fig. 4 for measuring basis prism square coordinate system pose angle matrix relative to the earth in the present invention method schematic diagram.
Wherein, G1- gyrotheodolite, T2- electronic theodolite, Cb- it is tested benchmark prism square.
Embodiment
Introduced below is the embodiment as present invention, below by embodiment to the present invention
Content is made further to illustrate.Certainly, the content of description following detailed description only for example different aspect of the invention, and
It should not be construed as limiting the invention scope.
Gyrotheodolite purchased in market includes three measurable obtained parameters, respectively azimuth, zenith distance and level
Angle, electronic theodolite includes measurable two obtained parameters, respectively horizontal angle and zenith distance.Orthogonal benchmark prism square includes
Six faces, four adjacent sides and top surface opposing upper and lower and bottom surface, for example, see Fig. 1.The collimation plane of the present invention is base
The side of quasi- prism square and non-top and bottom surface.
As shown in figure 4, the device that the measuring method of the present invention is related to has：Gyrotheodolite G1, electronic theodolite T2, it is tested
Orthogonal benchmark prism square Cb.Gyrotheodolite：A minute surface for collimating tested benchmark prism square, provides the mirror normal
Zenith distance and azimuth relative to earth coordinates (referring to Fig. 2).Electronic theodolite：For collimating tested benchmark prism square
One minute surface, provides zenith distance of the mirror normal relative to earth coordinates.Tested benchmark prism square：Benchmark prism square is one
Individual orthogonal 6 face body, every two adjacent mirror surface normals are mutually orthogonal, and 3 mutually orthogonal mirror normals represent coordinate system
Reference axis point to.
Gyrotheodolite G during measurement1Alignment measurement prism square CbAny one side (be labeled as A faces), obtain gyro warp
The azimuth of latitude instrument and the observation of zenith distance are respectively α1, V1, it is designated as (α1, V1), electronic theodolite T2Alignment measurement prism square
CbAny one adjacent with A faces side (being labeled as B faces), the observation for obtaining the zenith distance of electronic theodolite is V2, due to
Two adjacent surface angles of orthogonal benchmark prism square are 90 °, and electronic theodolite T is asked for according to below equation2The orientation of direction of collimation
Angle α2。
(1) as electronic theodolite T2The gyrotheodolite G in Fig. 41Right positions when,
α2=α1+arccos(-cot(V1)cot(V2))；
(2) as electronic theodolite T2The gyrotheodolite G in Fig. 41Leftward position when,
α2=α1-arccos(-cot(V1)cot(V2))；
Finally giving benchmark prism square, coordinate system pose angle matrix is relative to the earth：
Wherein：
{ax,ay,az}={ sin (V1)·cos(α1),sin(V1)·sin(α1),cos(V1)}
{bx,by,bz}={ sin (V2)·cos(α2),sin(V2)·sin(α2),cos(V2)}
{cx,cy,cz}={ ax,ay,az}×{bx,by,bz}
Wherein azimuth angle alpha1、α2With zenith distance V1、V2With respect to earth coordinates, geodetic coordinates origin can in the present invention
To take optional position, coordinate system+Z axis is that vertical big ground horizontal plane points to zenith direction by origin ,+X-axis is to be pointed to by origin
The direct north of the earth ,+Y-axis is determined according to right-hand rule.Azimuth angle alpha1、α2For the projection of direction of collimation in the horizontal plane and greatly
The angle of ground coordinate system+X-axis, zenith distance is direction of collimation and the angle of earth coordinates+Z axis, for example, see Fig. 3.
Gyrotheodolite G1Alignment measurement benchmark prism square CbA faces, the list of the A faces normal of formation under earth coordinates
Bit vector is expressed as formula (1)：
Assuming that electronic theodolite T2Alignment measurement prism square CbB surface azimuths be α2(directly it can not be surveyed by electronic theodolite
Measure), unit vector of the B faces normal under earth coordinates is similarly can obtain for formula (2)：
Due to benchmark prism square CbTwo minute surfaces A, B normal angle are 90 °, axbx+ayby+azbz=0, therefore obtain public affairs
Formula (3)：
cos(α1)cos(α2)+sin(α1)sin(α2)=- cot (V1)cot(V2) (3)
Obtained after being resolved to formula (3)：As electronic theodolite T2The gyrotheodolite G in Fig. 41Right positions when, α2
=α1+arccos(-cot(V1)cot(V2))；As electronic theodolite T2The gyrotheodolite G in Fig. 41Leftward position when α2
=α1-arccos(-cot(V1)cot(V2)).Obtained α2Value is brought into formula (2), and calculating obtains prism square CbB faces
The angle of normal and earth coordinates.
Finally by prism square CbThe unit vector multiplication cross of A faces normal and B faces normal obtain prism square CbTop surface (mark
For C faces) unit vector of the mirror normal under earth coordinates, calculate as shown in formula (4)：
{cx,cy,cz}={ ax,ay,az}×{bx,by,bz} (4)
Finally shown in tested attitude angle matrix such as formula (5) of the benchmark prism square under earth coordinates：
Although the embodiment to the present invention gives detailed description and illustrated above, it should be noted that
We can carry out various equivalent changes and modification according to the conception of the present invention to above-mentioned embodiment, and the function produced by it is made
, all should be within protection scope of the present invention during with the spirit still covered without departing from specification and accompanying drawing.
Claims (3)
1. a kind of method based on gyrotheodolite measuring basis prism square coordinate system pose angle relative to the earth, the reality of this method
Apply using gyrotheodolite, electronic theodolite and benchmark prism square, gyrotheodolite is measurable to obtain two parameters, be respectively side
Parallactic angle, zenith distance；The measurable obtained parameter zenith distance of electronic theodolite；Orthogonal benchmark prism square includes six faces, four
Individual adjacent side and top surface opposing upper and lower and bottom surface；Gyrotheodolite (G during measurement1) alignment measurement benchmark prism square (Cb)
Any one sideways be labeled as A faces, obtain the azimuth of gyrotheodolite and the observation respectively α of zenith distance1, V1, it is designated as
(α1, V1), electronic theodolite (T2) alignment measurement benchmark prism square (Cb) any one side adjacent with A faces be labeled as B faces,
The observation for obtaining the zenith distance of electronic theodolite is V2, be 90 ° according to two adjacent surface angles of orthogonal benchmark prism square, by with
Lower formula asks for electronic theodolite (T2) direction of collimation azimuth angle alpha2：
(1) as electronic theodolite (T2) it is located at gyrotheodolite (G1) right positions when, α2=α1+arccos(-cot(V1)cot
(V2))；
(2) as electronic theodolite (T2) it is located at gyrotheodolite (G1) leftward position when, α2=α1-arccos(-cot(V1)cot
(V2))；
Finally giving benchmark prism square, coordinate system pose angle matrix is relative to the earth：
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Wherein：
{ax,ay,az}={ sin (V1)·cos(α1),sin(V1)·sin(α1),cos(V1)}
{bx,by,bz}={ sin (V2)·cos(α2),sin(V2)·sin(α2),cos(V2)}
{cx,cy,cz}={ ax,ay,az}×{bx,by,bz}。
2. the method as described in claim 1, wherein azimuth angle alpha1、α2With zenith distance V1、V2With respect to earth coordinates, the present invention
Middle geodetic coordinates origin can take optional position, coordinate system+Z axis is vertical big ground horizontal plane by origin sensing zenith side
It is that the geographic north of the earth is pointed to determining+Y-axis, azimuth angle alpha according to right-hand rule from origin to ,+X-axis1、α2For direction of collimation
Projection in the horizontal plane and the angle of earth coordinates+X-axis, zenith distance are direction of collimation and the folder of earth coordinates+Z axis
Angle.
3. method as claimed in claim 1 or 2, wherein, gyrotheodolite (G1) alignment measurement benchmark prism square (Cb) A faces,
Unit vector of the A faces normal of formation under earth coordinates is expressed as formula (1)：
Assuming that electronic theodolite (T2) alignment measurement prism square (Cb) B surface azimuths be α2, can obtain B faces normal and sat in the earth
Unit vector under mark system is formula (2)：
Due to benchmark prism square (Cb) two minute surface A, B normal it is orthogonal, axbx+ayby+azbz=0, therefore obtain formula (3)：
cos(α1)cos(α2)+sin(α1)sin(α2)=- cot (V1)cot(V2) (3)
Obtained after being resolved to formula (3)：As electronic theodolite (T2) it is located at gyrotheodolite (G1) right positions when, α2=α1+
arccos(-cot(V1)cot(V2))；As electronic theodolite (T2) it is located at gyrotheodolite (G1) leftward position when α2=α1-
arccos(-cot(V1)cot(V2))；Obtained α2Value is brought into formula (2), and calculating obtains prism square (Cb) B faces method
Unit vector of the line under earth coordinates；
Finally by prism square (Cb) the unit vector multiplication cross of A faces normal and B faces normal obtain prism square (Cb) top surface (mark
For C faces) unit vector of the mirror normal under earth coordinates, calculate as shown in formula (4)：
{cx,cy,cz}={ ax,ay,az}×{bx,by,bz} (4)
Finally shown in tested attitude angle matrix such as formula (5) of the benchmark prism square under earth coordinates：
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104596420B (en) * | 2015-01-26 | 2017-06-16 | 北京卫星环境工程研究所 | The accurate measurement method of laser tracker measuring basis prism square center position |
| CN109470272B (en) * | 2018-12-05 | 2020-11-03 | 中国科学院长春光学精密机械与物理研究所 | Calibration method of IMU (inertial measurement Unit) measurement reference |
| CN109631828B (en) * | 2019-01-23 | 2020-11-13 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting coordinate axis included angle of adjacent space coordinate systems based on cubic prism |
| CN110836635B (en) * | 2019-09-30 | 2021-07-13 | 上海航天设备制造总厂有限公司 | Measuring reference establishing and measuring method for light honeycomb sandwich box type structure |
| CN110986899A (en) * | 2019-11-11 | 2020-04-10 | 上海航天设备制造总厂有限公司 | Precision measurement equipment and measurement method for electronic equipment with shielded closed cabin |
| CN111256650A (en) * | 2020-02-14 | 2020-06-09 | 天津时空经纬测控技术有限公司 | Non-contact attitude measurement method, non-contact attitude measurement device, and storage medium |
| CN111238440B (en) * | 2020-02-14 | 2022-03-11 | 天津时空经纬测控技术有限公司 | Non-contact attitude measurement system |
| CN111238438B (en) * | 2020-02-14 | 2022-03-11 | 天津时空经纬测控技术有限公司 | Non-contact attitude measurement method and storage medium |
| CN111623775B (en) * | 2020-05-15 | 2022-10-04 | 天津时空经纬测控技术有限公司 | Vehicle attitude measurement system, method, and storage medium |
| CN112710236B (en) * | 2020-12-23 | 2022-10-18 | 上海交大智邦科技有限公司 | Method for measuring installation attitude of spacecraft high-precision instrument based on laser tracker |
| CN114235004B (en) * | 2021-11-16 | 2023-08-08 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Atomic gyroscope axial azimuth angle measuring device and method based on double theodolites |
| CN114485392B (en) * | 2021-12-31 | 2023-07-14 | 航天东方红卫星有限公司 | Method and system for establishing large-size mechanical reference of spacecraft based on laser tracker |
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