CN104792306B - A kind of inclination angle measurement method - Google Patents

Abstract

The invention discloses a kind of inclination angle measurement method, is comprised the following steps successively：A：By individual acceleration transducer inside measurand, a gravitational acceleration component in acceleration transducer measurement direction is utilized respectively；B：Change the inclination angle of measurand, until measuring maximum and the minimum of a value of acceleration transducer output；C:Reference acceleration sensor is marked according to the gravitational acceleration component after standardization in individual acceleration transducer；D:T group measurement data is measured by test desk, directly measures the inclination angle of measurand using test desk, and the mean obliquity of measurand is calculated, when the absolute value of inclination angle its difference of sum is not more than the measure error of user preset, calculate measurement of dip angle model parameter；E：Using the output maximum of the acceleration transducer for determining, output minimum of a value and model parameter, inclination angle is solved.The inclination angle of the reliable accurately measurement measurand of the present invention.

Description

A kind of inclination angle measurement method

Technical field

The present invention relates to object gesture estimates fields of measurement, more particularly to a kind of inclination angle measurement method.

Background technology

Measurement of dip angle is a kind of key technology for estimating measurement object attitude, and it can accurately estimate measurand and reference Angle between line, and then judge the attitude of measurement object.Restriction due to use environment, it is impossible to which measurand is directly placed Its inclination angle is measured to test desk, therefore measurement of dip angle of the present invention is the sensor reality by being arranged on inside measurand Existing.Assembly technology is limited to, is difficult at present for single acceleration transducer assigned direction is assembled to, and then uses single acceleration The inclination angle of degree sensor accurate measurement measurand.The way of reality is, by installing multiple acceleration transducers, to set up inclination angle The Mathematical Modeling accurate measurement inclination angle of measurement.Multiple acceleration transducer accurate measurement inclination angles, compensate for sensor assembly technology Limitation, improve the precision of measurement of dip angle.The inclination angle measurement method that academia proposes is mainly around 3 acceleration of installation Sensor, corrects the angle between 3 acceleration transducers, improves the precision of measurement of dip angle.

The shortcoming of prior art is：

(1) when 3 acceleration transducers are installed, need as much as possible to ensure that acceleration transducer is mutual between any two Vertically, angle otherwise between any two is difficult to correct by Mathematical Modeling, cannot finally realize accurate measurement of dip angle；

(2) test desk test related data is not utilized, as the constrained parameters of solving model, it is difficult to ensure that final inclination angle is surveyed The precision of amount；

(3) without the convenient problem for processing more than 3 acceleration transducer measurement inclination angles of unified model.

Content of the invention

It is an object of the invention to provide a kind of inclination angle measurement method, measures the individual direction of n (n >=3) by acceleration transducer Gravitational acceleration component, the inclination angle of reliable accurately measurement measurand.

The present invention adopts following technical proposals：

A kind of inclination angle measurement method, is comprised the following steps successively：

A：By n acceleration transducer inside measurand, n acceleration transducer measurement n is utilized respectively The gravitational acceleration component in direction, wherein n >=3；The gravitational acceleration component in n direction is not parallel two-by-two and non-coplanar；

B：Change the inclination angle ψ of measurand, until measuring the maximum (g of acceleration transducer output_1max,g_2max,..., g_nmax) and minimum of a value (g_1min,g_2min,...,g_nmin)；

C:According to the gravitational acceleration component mark reference acceleration sensing after standardization in n acceleration transducer Device；

D:T group measurement data (ψ is measured by test desk_s,θ₁,θ₂,...,θ_n)_t, t=1,2 ..., T, T >=4n；ψ_sBe by Survey the inclination angle of object, θ₁,θ₂,...,θ_nAngle for acceleration transducer；The inclination angle of measurand is directly measured using test desk ψ′_s, and the mean obliquity ψ ' of measurand is calculated, as inclination angle ψ '_sThe measurement for being not more than user preset with the absolute value of the difference of ψ ' is missed During difference ε, measurement of dip angle model parameter (d is calculated₁,d₂,...,d_4n)_s；Measurement of dip angle model parameter (d₁,d₂,...,d_4n)_s Computational methods be, by T group measurement data (ψ_s,θ₁,θ₂,...,θ_n)_tEquation below is substituted into, solves measurement of dip angle model parameter (d₁,d₂,...,d_4n)_s,

E：Output maximum (g using the acceleration transducer for determining_1max,g_2max,...,g_nmax), output minimum of a value (g_1min,g_2min,...,g_nmin) and model parameter (d₁,d₂,...,d_4n)_s, inclination angle ψ can be solved by equation below；

In the step C, reference acceleration sensor mark is followed the steps below：

C1：Measurand is placed on test desk, the inclination angle to 0 degree of measurand is adjusted, now acceleration transducer The gravitational acceleration component for measuring is (g '⁰ ₁,g^′0 ₂,...,g^′0 _n)；

C2：By (g^′0 ₁,g^′0 ₂,...,g^′0 _n)、(g_1max,g_2max,...,g_nmax) and (g_1min,g_2min,...,g_nmin) substitute into public affairs FormulaI=1,2 ..., n, calculate the gravitational acceleration component after standardization

C3：WillMiddle c-th acceleration transducer for obtaining largest component is designated as reference acceleration sensing Device.

T group measurement data (ψ in the D step_s,θ₁,θ₂,...,θ_n)_tMeasuring process as follows：

D1：Measurand is placed on test desk, measures the inclination angle ψ of measurand_s, read inclination angle ψ_sBrief acceleration is passed Gravitational acceleration component (the g ' that sensor is measured₁,g′₂,...,g′_n)；

D2：By (g '₁,g′₂,...,g′_n)、(g_1max,g_2max,...,g_nmax) and (g_1min,g_2min,...,g_nmin) substitute into public affairs Formula g_i=[2 (g '_i-g_imin)/(g_imax-g_imin)] -1, i=1,2 ..., n, calculate the gravitational acceleration component (g after standardization₁, g₂,...,g_n)；

D3：By the gravitational acceleration component (g returned after generalized₁,g₂,...,g_n) substitute into formula θ_i=arccosg_i, i=1, 2 ..., n, calculate the angle (θ of acceleration transducer₁,θ₂,...,θ_n)；

D4：If θ_c<90 °, (θ₁,θ₂,...,θ_n) in angle more than 90 degree replaced with its supplementary angle, if θ_c>90 °, (θ₁, θ₂,...,θ_n) in angle less than 90 degree replaced with its supplementary angle, θ_cAngle for reference acceleration sensor；

D5：Inclination angle ψ by measurand_sAngle (θ with acceleration transducer₁,θ₂,...,θ_n) it is calculated as one group of measured value (ψ_s,θ₁,θ₂,...,θ_n)；

D6：Measurand is placed on test desk, is changed the attitude of measurand, measures the different measured value of T group (ψ_s,θ₁,θ₂,...,θ_n)_t, t=1,2 ..., T, T >=4n.

The inclination angle ψ ' of measurand in the D step_sAs follows with the measuring method of mean obliquity ψ '：

D7：Measurand is placed on test desk, directly measures measurand inclination angle ψ '_sWith i-th acceleration sensing The gravitational acceleration component g ' of device_i, substitute into θ_i=arccos ([2 (g '_i-g_imin)/(g_imax-g_imin)] -1), calculate i-th acceleration The angle, θ of degree sensor_i；

D8：Keep measurand inclination angle ψ '_sConstant, by measurand around measurand axis PQ by clockwise or counterclockwise Direction is rotated with multipass g '_iMeasure different θ_i, until measuring θ_iMaximum θ_imax, remember now all acceleration sensings The angle of device is (θ₁,θ₂,...,θ_n)_p；

D9：Keep measurand inclination angle ψ '_sConstant, by measurand around measurand axis PQ by clockwise or counterclockwise Direction is rotated with multipass g '_iMeasure different θ_i, until measuring θ_iMinimum of a value θ_imin, remember now all acceleration sensings The angle of device is (θ₁,θ₂,...,θ_n)_p；

D10：Remember all acceleration sensor angles maximum be (θ_1max,θ_2max,...,θ_nmax), minimum of a value be (θ_1min, θ_2min,...,θ_nmin), all acceleration transducer angles be (θ₁,θ₂,...,θ_n)_p, p=1,2 ..., 2n；

D11：By T group measurement data (ψ_s,θ₁,θ₂,...,θ_n)_tEquation below is substituted into, solves measurement of dip angle model parameter (d₁,d₂,...,d_4n),

D12：By (θ₁,θ₂,...,θ_n)_p(d₁,d₂,...,d_4n) equation below is substituted into, calculate measurand 2n inclines Angle ψ_p；

D13：By ψ_pSubstitute intoCalculate the mean obliquity ψ ' of measurand.

In described D step, if inclination angle ψ '_sIt is not more than measure error ε of user preset with the difference absolute value of ψ ', then by T Group measured value (ψ_s,θ₁,θ₂,...,θ_n)_tEquation below is substituted into, solves measurement model parameter (d₁,d₂,...,d_4n), and will solve Measurement model parameter (the d for obtaining₁,d₂,...,d_4n) as model parameter (d₁,d₂,...,d_4n)_s；Otherwise adopt in test desk again Collection data solving model parameter (d₁,d₂,...,d_4n), until obtaining model parameter (d₁,d₂,...,d_4n)_s；

Described E step is comprised the following steps：

E1：Gravitational acceleration component (g ' is measured by acceleration transducer₁,g′₂,...,g′_n)；

E2：By (g_1max,g_2max,...,g_nmax)、(g_1min,g_2min,...,g_nmin) and (g '₁,g′₂,...,g′_n) substitute into public affairs Formula g_i=[2 (g '_i-g_imin)/(g_imax-g_imin)] -1, calculate the gravitational acceleration component (g after standardization₁,g₂,...,g_n)；

E3：By gravitational acceleration component (g₁,g₂,...,g_n) substitute into formula θ_i=arccosg_i, calculate acceleration transducer Angle (θ₁,θ₂,...,θ_n)；

E4：If θ_c<90 °, (θ₁,θ₂,...,θ_n) in angle more than 90 degree replaced with its supplementary angle, if θ_c>90 °, (θ₁, θ₂,...,θ_n) in angle less than 90 degree replaced with its supplementary angle；

E5：By (θ₁,θ₂,...,θ_n) and (d₁,d₂,...,d_4n)_sEquation below is substituted into, measurand inclination angle ψ is calculated,

In described step A, using one while the acceleration transducer of n direction gravitational acceleration component can be measured Component substitutes n acceleration transducer, wherein n >=3；The gravitational acceleration component in n direction is not parallel two-by-two and non-coplanar.

The present invention can solve mould by data measured by multiple acceleration transducers and mathematics measurement model on test desk Shape parameter, realizes accurate measurement of dip angle then.

Description of the drawings

Fig. 1 is the schematic flow sheet of the present invention；

Fig. 2 is the tested object internal structure schematic diagram for being provided with 3 acceleration transducers.

In Fig. 2, PQ represents the axis of measurand, S_i(i=1,2,3) represent for measuring n direction acceleration of gravity Component g '_iThe acceleration transducer of (1,2,3), φ_i(i=1,2,3) represents the angle of acceleration transducer, θ_i(i=1,2,3) Represent the angle of acceleration transducer, certain rotating manner lower sensor S is indicated by the circle of A, B₃The method of operation.

Specific embodiment

As depicted in figs. 1 and 2, inclination angle measurement method of the present invention, comprises the following steps：

A：By n acceleration transducer inside measurand, n acceleration transducer measurement n is utilized respectively The gravitational acceleration component in direction, wherein n >=3；The gravitational acceleration component in n direction is not parallel two-by-two and non-coplanar.

When carrying out n acceleration transducer and installing, can angle between Accurate Calibration sensor, also manually can estimate to accelerate Angle between degree sensor, but must ensure that the gravitational acceleration component in n direction is not parallel two-by-two and non-coplanar.

In step A, one is may also be employed while the acceleration transducer group of n direction gravitational acceleration component can be measured Part substitutes n acceleration transducer, wherein n >=3；The gravitational acceleration component in n direction is not parallel two-by-two and non-coplanar.

B：Change the inclination angle ψ of measurand, until measuring the maximum (g of acceleration transducer output_1max,g_2max,..., g_nmax) and minimum of a value (g_1min,g_2min,...,g_nmin)；

C：According to the gravitational acceleration component mark reference acceleration sensing after standardization in n acceleration transducer Device；Reference acceleration sensor mark can be followed the steps below：

C1：Measurand is placed on test desk, the inclination angle to 0 degree of measurand is adjusted, now acceleration transducer The gravitational acceleration component for measuring is (g '⁰ ₁,g′⁰ ₂,...,g′⁰ _n)；

C2：By (g '⁰ ₁,g′⁰ ₂,...,g′⁰ _n)、(g_1max,g_2max,...,g_nmax) and (g_1min,g_2min,...,g_nmin) substitute into FormulaI=1,2 ..., n, calculate the gravitational acceleration component after standardization

C3：WillMiddle c-th acceleration transducer for obtaining largest component is designated as reference acceleration sensing Device.

D：T group measurement data (ψ is measured by test desk_s,θ₁,θ₂,...,θ_n)_t, t=1,2 ..., T, T >=4n；ψ_sBe by Survey the inclination angle of object, θ₁,θ₂,...,θ_nAngle for acceleration transducer；

The inclination angle ψ ' of measurand is directly measured using test desk_s, and calculate the mean obliquity ψ ' of measurand；Test desk For existing equipment, it is capable of the inclination angle of direct measurement measurand.

As inclination angle ψ '_sWhen being not more than measure error ε of user preset with the absolute value of the difference of ψ ', measurement of dip angle is calculated Model parameter (d₁,d₂,...,d_4n)_s；Measurement of dip angle model parameter (d₁,d₂,...,d_4n)_sComputational methods be, by T group measure Data (ψ_s,θ₁,θ₂,...,θ_n)_tEquation below is substituted into, solves measurement of dip angle model parameter (d₁,d₂,...,d_4n)_s,

For ease of understanding, below analysis is more specifically refined to D step：

In D step, T group measurement data (ψ_s,θ₁,θ₂,...,θ_n)_tMeasuring process as follows：

D1：Measurand is placed on test desk, measures the inclination angle ψ of measurand_s, read inclination angle ψ_sBrief acceleration is passed Gravitational acceleration component (the g ' that sensor is measured₁,g′₂,...,g′_n)；

D2：By (g '₁,g′₂,...,g′_n)、(g_1max,g_2max,...,g_nmax) and (g_1min,g_2min,...,g_nmin) substitute into public affairs Formula g_i=[2 (g '_i-g_imin)/(g_imax-g_imin)] -1, i=1,2 ..., n, calculate the gravitational acceleration component (g after standardization₁, g₂,...,g_n)；

D3：By the gravitational acceleration component (g returned after generalized₁,g₂,...,g_n) substitute into formula θ_i=arccosg_i, i=1, 2 ..., n, calculate the angle (θ of acceleration transducer₁,θ₂,...,θ_n)；

D4：If θ_c<90 °, (θ₁,θ₂,...,θ_n) in angle more than 90 degree replaced with its supplementary angle, if θ_c>90 °, (θ₁, θ₂,...,θ_n) in angle less than 90 degree replaced with its supplementary angle；θ_cAngle for reference acceleration sensor；

D5：Inclination angle ψ by measurand_sAngle (θ with acceleration transducer₁,θ₂,...,θ_n) it is calculated as one group of measured value (ψ_s,θ₁,θ₂,...,θ_n)；

D6：Measurand is placed on test desk, is changed the attitude of measurand, measures the different measured value of T group (ψ_s,θ₁,θ₂,...,θ_n)_t, t=1,2 ..., T, T >=4n.

In D step, the inclination angle ψ ' of measurand_sAs follows with the measuring method of mean obliquity ψ '：

D7：Measurand is placed on test desk, directly measures measurand inclination angle ψ '_sWith i-th acceleration sensing The gravitational acceleration component g ' of device_i, substitute into θ_i=arccos ([2 (g '_i-g_imin)/(g_imax-g_imin)] -1), calculate i-th acceleration The angle, θ of degree sensor_i；

D8：Keep measurand inclination angle ψ '_sConstant, by measurand around measurand axis PQ by clockwise or counterclockwise Direction is rotated with multipass g '_iMeasure different θ_i, until measuring θ_iMaximum θ_imax, remember now all acceleration sensings The angle of device is (θ₁,θ₂,...,θ_n)_p；

D9：Keep measurand inclination angle ψ '_sConstant, by measurand around measurand axis PQ by clockwise or counterclockwise Direction is rotated with multipass g '_iMeasure different θ_i, until measuring θ_iMinimum of a value θ_imin, remember now all acceleration sensings The angle of device is (θ₁,θ₂,...,θ_n)_p；

D10：Remember all acceleration sensor angles maximum be (θ_1max,θ_2max,...,θ_nmax), minimum of a value be (θ_1min, θ_2min,...,θ_nmin), all acceleration transducer angles be (θ₁,θ₂,...,θ_n)_p, p=1,2 ..., 2n；

D11：By T group measurement data (ψ_s,θ₁,θ₂,...,θ_n)_tEquation below is substituted into, solves measurement of dip angle model parameter (d₁,d₂,...,d_4n),

D12：By (θ₁,θ₂,...,θ_n)_p(d₁,d₂,...,d_4n) equation below is substituted into, calculate measurand 2n inclines Angle ψ_p；

D13：By ψ_pSubstitute intoCalculate the mean obliquity ψ ' of measurand.

In D step, if inclination angle ψ '_sIt is not more than measure error ε of user preset with the difference absolute value of ψ ', then T group is measured Value (ψ_s,θ₁,θ₂,...,θ_n)_tEquation below is substituted into, solves measurement model parameter (d₁,d₂,...,d_4n), and solution is obtained Measurement model parameter (d₁,d₂,...,d_4n) as model parameter (d₁,d₂,...,d_4n)_s；Otherwise again in test desk gathered data Solving model parameter (d₁,d₂,...,d_4n), until obtaining model parameter (d₁,d₂,...,d_4n)_s；

E：Output maximum (g using the acceleration transducer for determining_1max,g_2max,...,g_nmax), output minimum of a value (g_1min,g_2min,...,g_nmin) and model parameter (d₁,d₂,...,d_4n)_s, inclination angle ψ can be solved by equation below；

E step includes step in detail below：

E1：Gravitational acceleration component (g ' is measured by acceleration transducer₁,g′₂,...,g′_n)；

E2：By (g_1max,g_2max,...,g_nmax)、(g_1min,g_2min,...,g_nmin) and (g '₁,g′₂,...,g′_n) substitute into public affairs Formula g_i=[2 (g '_i-g_imin)/(g_imax-g_imin)] -1, calculate the gravitational acceleration component (g after standardization₁,g₂,...,g_n)；

E3：By gravitational acceleration component (g₁,g₂,...,g_n) substitute into formula θ_i=arccosg_i, calculate acceleration transducer Angle (θ₁,θ₂,...,θ_n)；

E4：If θ_c<90 °, (θ₁,θ₂,...,θ_n) in angle more than 90 degree replaced with its supplementary angle, if θ_c>90 °, (θ₁, θ₂,...,θ_n) in angle less than 90 degree replaced with its supplementary angle；

E5：By (θ₁,θ₂,...,θ_n) and (d₁,d₂,...,d_4n)_sEquation below is substituted into, measurand inclination angle ψ is calculated,

Inclination angle measurement method of the present invention is further discussed below below in conjunction with specific embodiment：

1., by individual for n (n >=3) acceleration transducer inside measurand, the gravity for measuring n direction respectively accelerates Degree component, the gravitational acceleration component in n direction are not parallel two-by-two and non-coplanar.In the present embodiment, employ 5 single shafts to add Speed sensor assembly, n=5.

2. the inclination angle ψ of measurand is changed, until measuring the maximum (g of acceleration transducer output_1max,g_2max,g_3max, g_4max,g_5max) and minimum of a value (g_1min,g_2min,g_3min,g_4min,g_5min)；In this step, the occurrence of ψ need not be known, tested right As being not placed on test desk.

3. measurand is placed on test desk, the inclination angle to 0 degree of measurand is adjusted, now acceleration transducer is surveyed The gravitational acceleration component for obtaining is (g '⁰ ₁,g′⁰ ₂,g′⁰ ₃,g′⁰ ₄,g^′0 ₅)；

4. by (g '⁰ ₁,g′⁰ ₂,g′⁰ ₃,g′⁰ ₄,g′⁰ ₅)、(g_1max,g_2max,g_3max,g_4max,g_5max) and (g_1min,g_2min,g_3min, g_4min,g_5min) substitute into formulaI=1,2 ..., 5, calculates the weight after standardization Power component of acceleration

5. willMiddle the 3rd acceleration transducer for obtaining largest component is designated as reference acceleration biography Sensor；

6. measurand is placed on test desk, measures the inclination angle ψ of measurand_s, read inclination angle ψ_sBrief acceleration is sensed Gravitational acceleration component (the g ' that device is measured₁,g′₂,g′₃,g′₄,g′₅)；

7. by (g '₁,g′₂,g′₃,g′₄,g′₅)、(g_1max,g_2max,g_3max,g_4max,g_5max) and (g_1min,g_2min,g_3min, g_4min,g_5min) substitute into formula g_i=[2 (g '_i-g_imin)/(g_imax-g_imin)] -1, i=1,2 ..., 5, calculate the weight after standardization Power component of acceleration (g₁,g₂,g₃,g₄,g₅)；

8. by the gravitational acceleration component (g after standardization₁,g₂,g₃,g₄,g₅) substitute into formula θ_i=arccosg_i, i=1, 2 ..., 5, calculate the angle (θ of acceleration transducer₁,θ₂,θ₃,θ₄,θ₅)；

If 9. θ₃<90 °, (θ₁,θ₂,θ₃,θ₄,θ₅) in angle more than 90 degree replaced with its supplementary angle, if θ₃>90 °, (θ₁,θ₂, θ₃,θ₄,θ₅) in angle less than 90 degree replaced with its supplementary angle；

10. by the inclination angle ψ of measurand_sAngle (θ with acceleration transducer₁,θ₂,θ₃,θ₄,θ₅) it is calculated as one group of measured value (ψ_s,θ₁,θ₂,θ₃,θ₄,θ₅)；

11. are placed on measurand on test desk, change the attitude of measurand, measure the different survey of T (T >=20) group Value (ψ_s,θ₁,θ₂,θ₃,θ₄,θ₅)_t, t=1,2 ..., T；

12. are placed on measurand on test desk, directly measure measurand inclination angle ψ '_sWith i-th acceleration sensing The gravitational acceleration component g ' of device_i, substitute into θ_i=arccos (2 (g '_i-g_imin)/(g_imax-g_imin) -1), calculate i-th acceleration The angle, θ of sensor_i；

13. keep measurand inclination angle ψ '_sConstant, by measurand around measurand axis PQ by clockwise or counterclockwise Direction is rotated with multipass g '_iMeasure different θ_i, until measuring θ_iMaximum θ_imax, remember now all acceleration sensings The angle of device is (θ₁,θ₂,θ₃,θ₄,θ₅)_p；

14. keep measurand inclination angle ψ '_sConstant, by measurand around measurand axis PQ by clockwise or counterclockwise Direction is rotated with multipass g '_iMeasure different θ_i, until measuring θ_iMinimum of a value θ_imin, remember now all acceleration sensings The angle of device is (θ₁,θ₂,θ₃,θ₄,θ₅)_p；

The maximum of all acceleration sensor angles of 15. notes is (θ_1max,θ_2max,θ_3max,θ_4max,θ_5max), minimum of a value be (θ_1min,θ_2min,θ_3min,θ_4min,θ_5min), all acceleration transducer angles be (θ₁,θ₂,θ₃,θ₄,θ₅)_p, p=1,2 ..., 10；

16. by T group measured value (ψ_s,θ₁,θ₂,θ₃,θ₄,θ₅)_tEquation below is substituted into, solves measurement model parameter (d₁, d₂,...,d₂₀)；

17. by (θ₁,θ₂,θ₃,θ₄,θ₅)_p(d₁,d₂,...,d₂₀) equation below is substituted into, calculate measurand 10 incline Angle ψ_p；

18. by ψ_pSubstitute intoCalculate the mean obliquity ψ ' of measurand；

If 19. inclination angle ψ '_sIt is not more than 0.15 degree with the difference absolute value of ψ ', then by T group measured value (ψ_s,θ₁,θ₂,θ₃,θ₄,θ₅)_t Substitute into equationSolve measurement model parameter (d₁, d₂,...,d₂₀)；And the measurement model parameter (d that solution is obtained₁,d₂,...,d₂₀) as model parameter (d₁,d₂,...,d₂₀ )_s；Otherwise again in test desk gathered data solving model parameter (d₁,d₂,...,d₂₀), until obtaining model parameter (d₁, d₂,...,d₂₀)_s；

The 20. output maximum (g for utilizing the acceleration transducer for determining_1max,g_2max,g_3max,g_4max,g_5max), output most Little value (g_1min,g_2min,g_3min,g_4min,g_5min) and model parameter (d₁,d₂,...,d₂₀)_s, the measurement of dip angle of measurand is not required to Relend and help test desk, you can measurand inclination angle ψ is solved, is comprised the following steps that：

20-1：Gravitational acceleration component (g ' is measured by acceleration transducer₁,g′₂,g′₃,g′₄,g′₅)；

20-2：By (g_1max,g_2max,g_3max,g_4max,g_5max)、(g_1min,g_2min,g_3min,g_4min,g_5min) and (g '₁,g′₂, g′₃,g′₄,g′₅) substitute into formula g_i=[2 (g '_i-g_imin)/(g_imax-g_imin)] -1, calculate the gravitational acceleration component after standardization (g₁,g₂,g₃,g₄,g₅)；

20-3：By gravitational acceleration component (g₁,g₂,g₃,g₄,g₅) substitute into formula θ_i=arccosg_i, calculate acceleration and pass Angle (the θ of sensor₁,θ₂,θ₃,θ₄,θ₅)；

20-4：If θ₃<90 °, (θ₁,θ₂,θ₃,θ₄,θ₅) in angle more than 90 degree replaced with its supplementary angle, if θ₃>90 °, (θ₁, θ₂,θ₃,θ₄,θ₅) in angle less than 90 degree replaced with its supplementary angle；

20-5：By (θ₁,θ₂,θ₃,θ₄,θ₅) and (d₁,d₂,...,d₂₀)_sEquation below is substituted into, measurand inclination angle ψ is calculated,

Claims (7)

1. a kind of inclination angle measurement method, it is characterised in that comprise the following steps successively：

A：By n acceleration transducer inside measurand, it is utilized respectively n acceleration transducer and measures n direction Gravitational acceleration component, wherein n >=3；The gravitational acceleration component in n direction is not parallel two-by-two and non-coplanar；

B：Change the inclination angle ψ of measurand, until measuring the maximum (g of acceleration transducer output_1max,g_2max,...,g_nmax) With minimum of a value (g_1min,g_2min,...,g_nmin)；

C:Reference acceleration sensor is marked according to the gravitational acceleration component after standardization in n acceleration transducer；

D:T group measurement data (ψ is measured by test desk_s,θ₁,θ₂,...,θ_n)_t, t=1,2 ..., T, T >=4n；ψ_sFor tested right The inclination angle of elephant, θ₁,θ₂,...,θ_nAngle for acceleration transducer；The inclination angle ψ ' of measurand is directly measured using test desk_s, And the mean obliquity ψ ' of measurand is calculated, as inclination angle ψ '_sIt is not more than measure error ε of user preset with the absolute value of the difference of ψ ' When, calculate measurement of dip angle model parameter (d₁,d₂,...,d_4n)_s；Measurement of dip angle model parameter (d₁,d₂,...,d_4n)_sMeter Calculation method is, by T group measurement data (ψ_s,θ₁,θ₂,...,θ_n)_tEquation below is substituted into, solves measurement of dip angle model parameter (d₁, d₂,...,d_4n)_s,

${\mathrm{\&psi;}}_s=\underset{i=1}{\overset{n}{\&Sigma;}}{d}_i{\mathrm{\&theta;}}_i+\underset{i=1}{\overset{n}{\&Sigma;}}(d_{n+3i-2}{\mathrm{\&theta;}}_i^2+d_{n+3i-1}\frac{1}{{\mathrm{\&theta;}}_i+1}+d_{n+3i}\frac{1}{\sqrt{{\mathrm{\&theta;}}_i+1}});$

E：Output maximum (g using the acceleration transducer for determining_1max,g_2max,…,g_nmax), output minimum of a value (g_1min, g_2min,...,g_nmin) and model parameter (d₁,d₂,...,d_4n)_s, inclination angle ψ can be solved by equation below；

$\mathrm{\&psi;}=\underset{i=1}{\overset{n}{\&Sigma;}}{d}_i{\mathrm{\&theta;}}_i+\underset{i=1}{\overset{n}{\&Sigma;}}(d_{n+3i-2}{\mathrm{\&theta;}}_i^2+d_{n+3i-1}\frac{1}{{\mathrm{\&theta;}}_i+1}+d_{n+3i}\frac{1}{\sqrt{{\mathrm{\&theta;}}_i+1}}).$

2. inclination angle measurement method according to claim 1, it is characterised in that in the step C, follow the steps below Reference acceleration sensor mark：

C1：Measurand being placed on test desk, the inclination angle of measurand being adjusted to 0 degree, now acceleration transducer is measured Gravitational acceleration component be

C2：Will(g_1max,g_2max,...,g_nmax) and (g_1min,g_2min,...,g_nmin) substitute into formulaI=1,2 ..., n, calculate the gravitational acceleration component after standardization

C3：WillMiddle c-th acceleration transducer for obtaining largest component is designated as reference acceleration sensor.

3. inclination angle measurement method according to claim 1, it is characterised in that T group measurement data (ψ in the D step_s,θ₁, θ₂,...,θ_n)_tMeasuring process as follows：

D1：Measurand is placed on test desk, measures the inclination angle ψ of measurand_s, read inclination angle ψ_sBrief acceleration sensor Gravitational acceleration component (the g ' for measuring₁,g′₂,...,g′_n)；

D2：By (g '₁,g′₂,...,g′_n)、(g_1max,g_2max,...,g_nmax) and (g_1min,g_2min,...,g_nmin) substitute into formula g_i= [2(g′_i-g_imin)/(g_imax-g_imin)] -1, i=1,2 ..., n, calculate the gravitational acceleration component (g after standardization₁, g₂,...,g_n)；

D3：By the gravitational acceleration component (g returned after generalized₁,g₂,...,g_n) substitute into formula θ_i=arccosg_i, i=1,2 ..., N, calculates the angle (θ of acceleration transducer₁,θ₂,...,θ_n)；

D4：If θ_c90 ° of ＜, (θ₁,θ₂,...,θ_n) in angle more than 90 degree replaced with its supplementary angle, if θ_c90 ° of ＞, (θ₁,θ₂,..., θ_n) in angle less than 90 degree replaced with its supplementary angle, θ_cAngle for reference acceleration sensor；

D5：Inclination angle ψ by measurand_sAngle (θ with acceleration transducer₁,θ₂,...,θ_n) it is calculated as one group of measured value (ψ_s, θ₁,θ₂,...,θ_n)；

D6：Measurand is placed on test desk, is changed the attitude of measurand, measures the different measured value (ψ of T group_s,θ₁, θ₂,...,θ_n)_t, t=1,2 ..., T, T >=4n.

4. inclination angle measurement method according to claim 2, it is characterised in that：The inclination angle ψ ' of measurand in the D step_s As follows with the measuring method of mean obliquity ψ '：

D7：Measurand is placed on test desk, directly measures measurand inclination angle ψ '_sWeight with i-th acceleration transducer Power component of acceleration g '_i, substitute into θ_i=arccos ([2 (g '_i-g_imin)/(g_imax-g_imin)] -1), calculate i-th acceleration sensing The angle, θ of device_i；

D8：Keep measurand inclination angle ψ '_sConstant, by measurand around measurand axis PQ by clockwise or counterclockwise Rotate with multipass g '_iMeasure different θ_i, until measuring θ_iMaximum θ_imax, note now all acceleration transducers Angle is (θ₁,θ₂,...,θ_n)_p1, p1=1,2 ..., n；

D9：Keep measurand inclination angle ψ '_sConstant, by measurand around measurand axis PQ by clockwise or counterclockwise Rotate with multipass g '_iMeasure different θ_i, until measuring θ_iMinimum of a value θ_imin, note now all acceleration transducers Angle is (θ₁,θ₂,...,θ_n)_p2, p2=n+1, n+2 ..., 2n；

D10：Remember all acceleration sensor angles maximum be (θ_1max,θ_2max,...,θ_nmax), minimum of a value be (θ_1min, θ_2min,...,θ_nmin), all acceleration transducer angles be (θ₁,θ₂,...,θ_n)_p, p=1,2 ..., 2n；

D11：By T group measurement data (ψ_s,θ₁,θ₂,...,θ_n)_tEquation below is substituted into, solves measurement of dip angle model parameter (d₁, d₂,...,d_4n),

${\mathrm{\&psi;}}_s=\underset{i=1}{\overset{n}{\&Sigma;}}{d}_i{\mathrm{\&theta;}}_i+\underset{i=1}{\overset{n}{\&Sigma;}}(d_{n+3i-2}{\mathrm{\&theta;}}_i^2+d_{n+3i-1}\frac{1}{{\mathrm{\&theta;}}_i+1}+d_{n+3i}\frac{1}{\sqrt{{\mathrm{\&theta;}}_i+1}});$

D12：By (θ₁,θ₂,...,θ_n)_p(d₁,d₂,...,d_4n) equation below is substituted into, calculate 2n inclination angle ψ of measurand_p；

${\mathrm{\&psi;}}_p=\underset{i=1}{\overset{n}{\&Sigma;}}{d}_i{\mathrm{\&theta;}}_i+\underset{i=1}{\overset{n}{\&Sigma;}}(d_{n+3i-2}{\mathrm{\&theta;}}_i^2+d_{n+3i-1}\frac{1}{{\mathrm{\&theta;}}_i+1}+d_{n+3i}\frac{1}{\sqrt{{\mathrm{\&theta;}}_i+1}})$

D13：By ψ_pSubstitute intoCalculate the mean obliquity ψ ' of measurand.

5. inclination angle measurement method according to claim 4, it is characterised in that：In described D step, if inclination angle ψ '_sWith ψ ' it Difference absolute value is not more than measure error ε of user preset, then by T group measured value (ψ_s,θ₁,θ₂,...,θ_n)_tSubstitute into equation below, Solve measurement model parameter (d₁,d₂,...,d_4n), and the measurement model parameter (d that solution is obtained₁,d₂,...,d_4n) as mould Shape parameter (d₁,d₂,...,d_4n)_s；Otherwise again in test desk gathered data solving model parameter (d₁,d₂,...,d_4n), until Obtain model parameter (d₁,d₂,...,d_4n)_s；

${\mathrm{\&psi;}}_s=\underset{i=1}{\overset{n}{\&Sigma;}}{d}_i{\mathrm{\&theta;}}_i+\underset{i=1}{\overset{n}{\&Sigma;}}(d_{n+3i-2}{\mathrm{\&theta;}}_i^2+d_{n+3i-1}\frac{1}{{\mathrm{\&theta;}}_i+1}+d_{n+3i}\frac{1}{\sqrt{{\mathrm{\&theta;}}_i+1}}).$

6. inclination angle measurement method according to claim 5, it is characterised in that described E step is comprised the following steps：

E1：Gravitational acceleration component (g ' is measured by acceleration transducer₁,g′₂,...,g′_n)；

E2：By (g_1max,g_2max,...,g_nmax)、(g_1min,g_2min,...,g_nmin) and (g '₁,g′₂,...,g′_n) substitute into formula g_i= [2(g′_i-g_imin)/(g_imax-g_imin)] -1, calculate the gravitational acceleration component (g after standardization₁,g₂,...,g_n)；

E3：By gravitational acceleration component (g₁,g₂,...,g_n) substitute into formula θ_i=arccosg_i, calculate the angle of acceleration transducer Degree (θ₁,θ₂,...,θ_n)；

E4：If θ_c90 ° of ＜, (θ₁,θ₂,...,θ_n) in angle more than 90 degree replaced with its supplementary angle, if θ_c90 ° of ＞, (θ₁,θ₂,..., θ_n) in angle less than 90 degree replaced with its supplementary angle；

E5：By (θ₁,θ₂,...,θ_n) and (d₁,d₂,...,d_4n)_sEquation below is substituted into, measurand inclination angle ψ is calculated,

$\mathrm{\&psi;}=\underset{i=1}{\overset{n}{\&Sigma;}}{d}_i{\mathrm{\&theta;}}_i+\underset{i=1}{\overset{n}{\&Sigma;}}(d_{n+3i-2}{\mathrm{\&theta;}}_i^2+d_{n+3i-1}\frac{1}{{\mathrm{\&theta;}}_i+1}+d_{n+3i}\frac{1}{\sqrt{{\mathrm{\&theta;}}_i+1}}).$

7. inclination angle measurement method according to claim 1, it is characterised in that：In described step A, using one while energy The acceleration sensing device assembly for enough measuring n direction gravitational acceleration component substitutes n acceleration transducer, wherein n >=3；N The gravitational acceleration component in direction is not parallel two-by-two and non-coplanar.