CN105783944B - sun sensor calibration method and system - Google Patents

sun sensor calibration method and system Download PDF

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Publication number
CN105783944B
CN105783944B CN201610305717.6A CN201610305717A CN105783944B CN 105783944 B CN105783944 B CN 105783944B CN 201610305717 A CN201610305717 A CN 201610305717A CN 105783944 B CN105783944 B CN 105783944B
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sun
sun sensor
coordinate system
direction vector
solar
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CN105783944A (en
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陈小前
绳涛
宋新
杨磊
赵勇
白玉铸
陈利虎
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National University of Defense Technology
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass

Abstract

The present invention discloses a kind of sun sensor calibration method and system, wherein method includes:11) the first position of sun vector under mean of date equatorial mean equinox coordinate system is calculated;And the geographical location of the measurement point residing for sun sensor calculates the solar azimuth and sun altitude under body-fixed coordinate system;12) according to the second position of sun vector under the first position of sun Vector operation body-fixed coordinate system;13) according to the first solar direction vector under solar azimuth, elevation angle and the second position of sun Vector operation geographic coordinate system;14) according to the standard solar direction vector under the first solar direction Vector operation sun sensor measuring coordinate;15) basisCalculate the measurement error matrix of sun sensor.Said program can solve the problems, such as current calibration facility exist it is relatively low to sun sensor calibration precision and can not demarcate sun sensor coupling installation error.

Description

Sun sensor calibration method and system
Technical field
The present invention relates to space technology field more particularly to a kind of sun sensor calibration method and systems.
Background technology
Sun sensor is important one of the attitude measurement component of satellite.Sun sensor is by observing the sun at it The projected position of sensing unit resolves posture of the satellite relative to the sun.Sun sensor is detected in conjunction with other sensors Information (such as Magnetic Field) posture of the satellite in geocentric inertial coordinate system can be calculated.As high-precision detection Sensor, sun sensor after the completion of design need that its performance parameter is demarcated and corrected, and then improve it and measure essence Degree.
Sun sensor includes sunlight sensing unit and facula position Acquisition Circuit two parts.Sunlight sensing unit Error is mainly derived from the mismachining tolerance and rigging error of the components such as optic probe, imaging unit or grating.Facula position acquires The error of circuit is mainly the reference voltage deviation of Acquisition Circuit, quantizing noise etc..Above-mentioned error is oneself of sun sensor Body measurement error.Other than itself measurement error, satellite is being resolved in geocentric inertial coordinate system by sun sensor Posture when, sun sensor itself is relative to the important errors source that the installation error of satellite is also sun sensor.
Currently, the calibration facility of sun sensor includes mainly solar simulator and high precision turntable.Solar simulator is logical The parallel collimated light source of Chang Weiyue 0.2-0.3 solar constants.Parallel collimated light source provides the lighting simulation sun and shines.In high precision Turntable is digital two-axis platcform or digital three-axle table.During calibration, sun sensor is placed in solar simulator Front, be placed in high precision turntable, the actual measurement angle exported according to the variation of high precision turntable angle and sun sensor Value, and then can be derived that the measurement error of sun sensor.This scaling method is mainly itself measuring to sun sensor Error is demarcated.In specific calibration process, the parallel collimated light source for simulated solar irradiation is fixed, is turned by high-precision Platform rotates to change the measurement error under the conditions of the various postures of sun sensor.Due to digital two-axis platcform or digital three The bearing capacity of shaft rotation platform is limited, therefore can only be demarcated to the single machine of sun sensor.It is carried out based on sun sensor When the attitude of satellite determines, more concerned with measurement error of the sun sensor under whole starlike state.That is, sun sensor is whole Measurement error under starlike state includes not only itself measurement error, further includes the coupling installation error of sun sensor, i.e., on Installation error of the sun sensor relative to satellite described in text.It will be apparent that current calibration facility cannot achieve whole starlike state Under calibration to sun sensor, also can not just demarcate the coupling installation error of sun sensor.
By above-mentioned calibration process it is found that the calibration facility of current sun sensor can only be in single to sun sensor It is demarcated, can not be demarcated under whole starlike state when machine state, the coupling installation that also can not just demarcate sun sensor misses Difference.In addition, above-mentioned calibration facility is realized based on solar simulator, the depth of parallelism of light produced by solar simulator, illumination are strong Degree and spectral region have a certain difference with true sunlight, and therefore, solar simulator makes the calibration of sun sensor Precision is relatively low.
Exist relatively low to sun sensor calibration precision and can not demarcate the sun as it can be seen that how to solve current calibration facility Sensor couples the problem of installation error, is current those skilled in the art technical problem urgently to be resolved hurrily.
Invention content
The present invention discloses a kind of sun sensor calibration method, exists to sun sensor to solve current calibration facility Stated accuracy is relatively low, the problem of can not demarcating the coupling installation error of sun sensor.
In order to solve the above-mentioned technical problem, the present invention is disclosed directly below technical solution:
Sun sensor calibration method includes the following steps:
11) the first position of sun vector under mean of date equatorial mean equinox coordinate system is calculated;And according to sun sensitivity The geographical location of measurement point residing for device calculates the solar azimuth and sun altitude under body-fixed coordinate system;
12) according to the second position of sun vector under the first position of sun Vector operation body-fixed coordinate system;
13) it is sat according to the solar azimuth, the sun altitude and the second position of sun Vector operation geography The first solar direction vector under mark system;
14) according to the standard solar direction under sun sensor measuring coordinate described in the first solar direction Vector operation Vector;
15) basisCalculate the measurement error matrix of sun sensor, wherein RerrorIt is sun sensitivity The measurement error matrix of device;It is the actual measurement solar direction vector that sun sensor is detected;It is standard solar direction arrow Amount.
Preferably, in above-mentioned scaling method, repeatedly optimize the measurement error matrix of sun sensor with least square method.
Preferably, in above-mentioned scaling method, sun sensor measuring coordinate system and the geographic coordinate system holding side To consistent.
Preferably, in above-mentioned scaling method, the reference axis of the geographic coordinate system is defined using northwest (NW) day.
Sun sensor calibration system, including solar direction vector actual measurement subsystem and standard solar direction vector meter operator System and error calculation subsystem;The solar direction vector actual measurement subsystem includes sun sensor, the sun sensor For obtaining actual measurement solar direction vector;The standard solar direction Vector operation subsystem includes the first computing unit, second Computing unit, third computing unit, the 4th computing unit and the 5th computing unit;Wherein:
First computing unit is used to calculate the first position of sun vector under mean of date equatorial mean equinox coordinate system; Geographical location of second computing unit for the measurement point residing for sun sensor calculates under body-fixed coordinate system too Positive azimuth and sun altitude;
The third computing unit is used for according to second under the first position of sun Vector operation body-fixed coordinate system too Positive position vector;4th computing unit is used for according to the solar azimuth, the sun altitude and described second too The first solar direction vector under positive position vector computed geographical coordinates;5th computing unit is used for according to described first The second solar direction vector under sun sensor measuring coordinate described in solar direction Vector operation;The error calculation subsystem For basisCalculate the measurement error matrix of sun sensor;Wherein RerrorIt is the measurement of sun sensor Error matrix;It is the actual measurement solar direction vector that sun sensor is detected;It is standard solar direction vector.
Preferably, in above-mentioned calibration system, the solar direction vector actual measurement subsystem includes the sun sensor, water Flat test platform and two level meters;Wherein:
The sun sensor is set to the horizontal checkout platform;The horizontal checkout platform includes straight panel shape supporting table With multiple support legs;Multiple support legs are located at the both ends of the straight panel shape supporting table;It is located at least in the straight panel shape The support leg of supporting table one end is liftable support leg;Two level meters are set to the straight panel shape supporting table with true It is protected to be in horizontal plane.
Preferably, in above-mentioned calibration system, the quantity of the support leg is three, respectively the first support leg, second Support leg and third support leg;Wherein:
First support leg is located at the middle part of described straight panel shape supporting table one end;Second support leg and third support Leg is located at the other end of the straight panel shape supporting table;Second support leg and the third support leg support for the liftable Leg.
Sun sensor calibration method disclosed by the invention has the advantages that:
Scaling method disclosed by the invention to the observation of the sun based on standard solar direction vector is calculated, then with mark The actual measurement solar direction vector for detecting and resolving according to sun sensor on the basis of quasi- solar direction vector calculates measurement error square Battle array.The measurement error matrix can be used as the calibration of sun sensor according to the actual measurement to being obtained in the sun sensor course of work Solar direction vector is modified, and obtains true solar direction vector.As it can be seen that scaling method disclosed by the invention can be improved to too The stated accuracy of positive sensor.Simultaneously as above-mentioned scaling method is based on to the observation of sun progress, therefore can be quick in the sun Sensor implements calibration when being in single machine state, can also implement calibration when sun sensor is in whole starlike state.As it can be seen that this hair The scaling method of bright disclosed sun sensor, which can solve calibration facility described in background technology, to be existed to sun sensor calibration essence Spend it is relatively low and can not demarcate sun sensor coupling installation error the problem of.
At the same time, scaling method disclosed by the invention can not have to digital two-axis platcform or digital three-axle table, Simultaneously without solar simulator.Due to being not necessarily to above-mentioned expensive equipment, can reduce to sun sensor calibration The cost of work.
Description of the drawings
Technical solution in order to illustrate the embodiments of the present invention more clearly or in background technology, below will be to embodiment or the back of the body Attached drawing is briefly described needed in the description of scape technology, it should be apparent that, for those of ordinary skill in the art Speech, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is the flow chart of sun sensor calibration method disclosed by the embodiments of the present invention;
Fig. 2 is the structural schematic diagram of sun sensor calibration system disclosed by the embodiments of the present invention;
Fig. 3 is the schematic diagram that geographic coordinate system uses that northwest (NW) day defines in the embodiment of the present invention.
Reference sign:
100- solar direction vectors survey subsystem, 110- work tops, 120- horizontal checkouts platform, 121- branch plate branch Support platform, the first support legs of 122-, the second support legs of 123-, 124- thirds support leg, 130- sun sensors, 140- level meters, 150- level meters, 200- standard solar direction Vector operations subsystem, the 300- sun.
Specific implementation mode
In order to make those skilled in the art more fully understand the technical solution in the present invention, below in conjunction with of the invention real The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general The every other embodiment that logical technical staff is obtained without making creative work should all belong to the present invention The range of protection.
Referring to FIG. 1, the embodiment of the present invention discloses a kind of sun sensor calibration method.Disclosed scaling method includes Following steps:
Position of sun vector under S100, calculating mean of date equatorial mean equinox coordinate system.
This step calculates the position of sun vector under mean of date equatorial mean equinox coordinate system according to solar orbit radical, i.e., First position of sun vector.In the present embodiment, mean of date equatorial mean equinox coordinate system is instantaneous the earth's core mean equator coordinate system. Sun median orbital elements is denoted as a respectivelyS、eS、εSWherein aSIndicate solar orbit major semiaxis;eSIt indicates too The eccentricity of positive track;εSIndicate ecliptic obliquity;Indicate the geometry mean longitude of corresponding same day mean equinox;It indicates to should The perigee mean longitude of its mean equinox;Indicate the mean anomaly of the sun.
The position of sun vector under mean of date equatorial mean equinox coordinate system can be calculated according to formula (1) (2) and (3):
Wherein:RXS) it is to rotate ε around X-axisSThe spin matrix of formation;RSFor the sun the earth's core away from;For the sun relative to The true anomaly of same day mean equinox.Because the eccentricity of solar orbit is smaller, therefore take:
Position of sun vector under S200, calculating body-fixed coordinate system.
It is sweared according to step S100 the first position of sun vectors being calculated to calculate the position of sun under body-fixed coordinate system Amount, i.e. the second position of sun vector.Specifically, the position of sun that this step can calculate under body-fixed coordinate system according to formula (4) is sweared Amount is:
Wherein, Gst is the Greenwich sidereal time calculated according to time of measuring, RZ(Gst) it is that rotation Gst is formed about the z axis Spin matrix.
S300, according to measurement point geographical location calculate body-fixed coordinate system under solar azimuth and sun altitude.
The geographical location of measurement point of this step residing for sun sensor calculates the sun side under body-fixed coordinate system Parallactic angle and sun altitude.
Wherein, in formula (5), θ is solar azimuth;β is sun altitude.Lat, Long, h are respectively the warp of measurement point Degree, latitude and height.Transformational relation f (x) in formula (5) can refer to the standard handovers flow of spacecraft orbit coordinate system.
Solar direction vector under S400, computed geographical coordinates.
This step is according under solar azimuth θ, altitude of the sun angle beta and the second position of sun Vector operation geographic coordinate system Solar direction vector, i.e. the first solar direction vector.Calculating the first solar direction vector by formula (6) is:
Wherein, x, y, z is the vector component under geographic coordinate system respectively.
Solar direction vector under S500, calculating sun sensor measuring coordinate system.
This step according under the first solar direction Vector operation sun sensor measuring coordinate system or celestial body coordinate system too Positive direction vector, i.e. the second solar direction vector are also standard solar direction vector.The second sun side is calculated by formula (7) It is to vector:
Wherein,For the solar direction vector under sensor measuring coordinate system or celestial body coordinate system, i.e. second direction is sweared Amount, also referred to as standard solar direction vector;RbgFor geographic coordinate system to sensor measuring coordinate system or turn of celestial body coordinate system Change matrix.Preferably, sun sensor measuring coordinate system is consistent or parallel with the direction of geographic coordinate system in the present embodiment. In such cases, RbgFor unit battle array.Unit matrix can facilitate conversion to calculate.More specifically, the reference axis of geographic coordinate system uses Northwest (NW) day defines.
Herein, the second solar direction vector is also referred to as reference direction vector.In view of various model errors, this implementation The model error of standard solar direction Vector operation acquired in example is better than 0.01 °.
S600, the measurement error matrix for calculating sun sensor.
This step calculates the measurement error matrix of sun sensor according to formula (8).
Wherein, RerrorFor the measurement error matrix of sun sensor;It is the actual measurement solar side that sun sensor is detected To vector;It is the second solar direction vector, i.e. reference direction vector.For the calibration of the single machine of sun sensor, Rerror Contain all errors of optical sensitive unit and Acquisition Circuit;For sun sensor is in the calibration of whole starlike state, RerrorAlso include the coupling installation error of sun sensor.
It for the application, can be observed by long-time, multiple survey calculation acquirement is enough, and it is quick to cover the sun Then the sufficiently large sample point of sensor visual field optimizes the measurement error matrix of sun sensor using least square method.
The measurement error matrix can be utilized to work sun sensor after obtaining the measurement error matrix of sun sensor The true solar direction vector that process detects in converging carries out error correction, and then revised measured value can be obtained.It is specific to correct Shown in relationship such as formula (9):
Wherein,For the true solar direction vector for determining the attitude of satellite,It measures and ties for sun sensor The solar direction vector of calculating, i.e. actual measurement solar direction vector.Pass through the correction of above-mentioned formula (9), the survey of solar direction vector Accuracy of measurement can be better than 0.1 °.
By the course of work above it is found that scaling method disclosed by the embodiments of the present invention is based on the observation calculating to the sun Standard solar direction vector is obtained, the actual measurement solar then detected according to sun sensor on the basis of standard solar direction vector Direction vector calculates measurement error matrix.The measurement error matrix can be used as the correction of sun sensor according to sensitive to the sun The actual measurement solar direction vector obtained in the device course of work is modified, and obtains true solar direction vector.As it can be seen that the present invention is real Stated accuracy to sun sensor can be improved by applying scaling method disclosed in example.Simultaneously as above-mentioned scaling method is based on to too The observation of sun carries out, therefore can implement calibration when sun sensor is in single machine state, can also be at sun sensor Implement calibration when whole starlike state.As it can be seen that the scaling method of sun sensor disclosed by the embodiments of the present invention can solve background skill Calibration facility described in art exists relatively low to sun sensor calibration precision and can not demarcate sun sensor coupling installation error Problem.
At the same time, above-mentioned scaling method can not have to digital two-axis platcform or digital three-axle table, while also without Need solar simulator.Due to being not necessarily to above-mentioned expensive equipment, the staking-out work to sun sensor can be reduced Cost.
Based on the above scaling method of the embodiment of the present invention, a kind of sun sensor is also disclosed in the embodiment of the present invention Calibration system.It please refers to Fig.2 with shown in 3, disclosed sun sensor calibration system includes solar direction vector actual measurement subsystem System 100, standard solar direction Vector operation subsystem 200 and error calculation subsystem.
Wherein, solar direction vector actual measurement subsystem 100 includes sun sensor 130, for obtaining actual measurement solar direction Vector.Standard solar direction Vector operation subsystem 200 include the first computing unit, the second computing unit, third computing unit, 4th computing unit and the 5th computing unit.
First computing unit is used to calculate the first position of sun vector under mean of date equatorial mean equinox coordinate system;Second Computing unit calculates the solar azimuth under body-fixed coordinate system for the geographical location of the measurement point residing for sun sensor 130 Angle and sun altitude;Third computing unit is used for according to second under the first position of sun Vector operation body-fixed coordinate system Position of sun vector;4th computing unit is used for according to solar azimuth, sun altitude and the second position of sun vector The first solar direction vector under computed geographical coordinates.5th computing unit is used for according to the first solar direction vector meter Calculate the second solar direction vector under the sun sensor measuring coordinate, i.e. standard solar direction vector.
The error calculation subsystem is used for basisCalculate the measurement error square of sun sensor 130 Battle array;Wherein RerrorIt is the measurement error matrix of sun sensor 130;It is the actual measurement solar side that sun sensor 130 is detected To vector;It is the second solar direction vector, i.e. standard solar direction vector.
Since calibration system provided in this embodiment is corresponding with the scaling method that the application is the above, and first Computing unit, the second computing unit, third computing unit, the 4th computing unit, the 5th computing unit and error calculation subsystem Corresponding with the corresponding steps in embodiment of the method respectively, calculating process can refer to the calculating of corresponding steps, herein just no longer It repeats.
With continued reference to FIG. 2, the embodiment of the present invention discloses a kind of solar direction vector actual measurement subsystem of concrete structure 100.It includes sun sensor 130, horizontal checkout platform 120 and two level meters that the solar direction vector, which surveys subsystem 100, (level meter 140 and level meter 150);Horizontal checkout platform 120 is generally disposed on work top 110, and sun sensor 130 is set It is placed in horizontal checkout platform 120, and ensures that sun sensor 130 is under the irradiation of the sun 300.Such as step in embodiment of the method Described in S400, it is preferred that the direction of sun sensor measuring coordinate system and geographic coordinate system is consistent.This just needs to keep too The xoy planes of positive sensor measuring coordinate system are located in local level, X-axis and the locality north of sun sensor measuring coordinate system To being consistent, as shown in Figure 3.For this purpose, solar direction vector actual measurement subsystem includes direction indicating device, such as differential GPS, Digital compass etc..Above-mentioned direction indicating device ensures that the X-axis of sun sensor measuring coordinate system is consistent with local north orientation.Water Level 140 and level meter 150 are used for detection level test platform 120 whether in horizontal plane.At horizontal checkout platform 120 When in horizontal plane, the sun sensor 130 being arranged on is also in horizontal plane, otherwise, adjustment level is needed to survey Examination platform 120 is until two level meters indicate that it is in horizontal plane.Certainly, level meter 140 with level meter 150 preferably with mutual Vertical mode is arranged, to ensure the position of preferably detection level test platform 120.
In a kind of specific embodiment, horizontal checkout platform 120 includes straight panel shape supporting table 121 and multiple support legs. Multiple support legs are located at the both ends of straight panel shape supporting table 121.The support leg for being located at least in 121 one end of straight panel shape supporting table is Liftable support leg.Two level meters are set to straight panel shape supporting table 121, according to the testing result of two level meters, operator Member can adjust liftable support leg, and then ensure that straight panel shape supporting table 121 is in horizontal plane, finally ensure sun sensor 130 in horizontal plane.
Referring again to Fig. 2, the quantity of support leg can be three, respectively the first support leg 122, the second support leg 123 and third support leg 124.Wherein, the first support leg 122 is located at the middle part of 121 one end of straight panel shape supporting table, the second support leg 123 and third support leg 124 be located at the other end of straight panel shape supporting table 121.Second support leg 123 and third support leg 124 are Liftable support leg.
Herein, only emphasis describes the difference with other schemes to each preferred embodiment, as long as each preferred embodiment Do not conflict, can arbitrarily combine, embodiment is formed by after combination also within scope disclosed in this specification, it is contemplated that Text is succinct, is individually described with regard to being no longer formed by embodiment to combination herein.
The above is only the specific implementation mode of the present invention, is made skilled artisans appreciate that or realizing this hair It is bright.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest range caused.
The above is only the specific implementation mode of the present invention, it is noted that for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (7)

1. sun sensor calibration method, which is characterized in that include the following steps:
11) the first position of sun vector under mean of date equatorial mean equinox coordinate system is calculated;And according to sun sensor institute The geographical location of the measurement point at place calculates the solar azimuth and sun altitude under body-fixed coordinate system;
12) according to the second position of sun vector under the first position of sun Vector operation body-fixed coordinate system;
13) according to the solar azimuth, the sun altitude and the second position of sun Vector operation geographic coordinate system Under the first solar direction vector;
14) according to the standard solar direction vector under the first solar direction Vector operation sun sensor measuring coordinate system;
15) basisCalculate the measurement error matrix of sun sensor, wherein RerrorIt is sun sensor Measurement error matrix;It is the actual measurement solar direction vector that sun sensor is detected;It is standard solar direction vector.
2. scaling method according to claim 1, which is characterized in that repeatedly optimize sun sensor with least square method Measurement error matrix.
3. scaling method according to claim 1 or 2, which is characterized in that sun sensor measuring coordinate system and institute Stating geographic coordinate system keeps direction consistent.
4. scaling method according to claim 3, which is characterized in that the reference axis of the geographic coordinate system uses northwest (NW) day Definition.
5. sun sensor calibration system, which is characterized in that including solar direction vector actual measurement subsystem (100) and the standard sun Direction vector computing subsystem (200) and error calculation subsystem;The solar direction vector actual measurement subsystem (100) includes too Positive sensor (130), the sun sensor (130) is for obtaining actual measurement solar direction vector;The standard solar direction arrow Gauge Operator Systems (200) include the first computing unit, the second computing unit, third computing unit, the 4th computing unit and the Five computing units;Wherein:
First computing unit is used to calculate the first position of sun vector under mean of date equatorial mean equinox coordinate system;It is described Geographical location of second computing unit for the measurement point residing for sun sensor (130) calculates under body-fixed coordinate system too Positive azimuth and sun altitude;
The third computing unit is used for according to the second sun position under the first position of sun Vector operation body-fixed coordinate system Set vector;4th computing unit is used for according to the solar azimuth, the sun altitude and second sun position Set the first solar direction vector under Vector operation geographic coordinate system;5th computing unit is used for according to first sun Direction vector calculates the standard solar direction vector under sun sensor measuring coordinate system;The error calculation subsystem is used for root According toCalculate the measurement error matrix of sun sensor (130);Wherein RerrorIt is sun sensor (130) Measurement error matrix;It is the actual measurement solar direction vector that sun sensor (130) is detected;It is standard solar direction arrow Amount.
6. calibration system according to claim 5, which is characterized in that the solar direction vector actual measurement subsystem (100) Including the sun sensor (130), horizontal checkout platform (120) and two level meters (140,150);Wherein:
The sun sensor (130) is set to the horizontal checkout platform (120);The horizontal checkout platform (120) includes Straight panel shape supporting table (121) and multiple support legs;Multiple support legs are located at the two of the straight panel shape supporting table (121) End;The support leg for being located at least in described straight panel shape supporting table (121) one end is liftable support leg;Two level meters (140,150) are set to the straight panel shape supporting table (121) to ensure that it is in horizontal plane.
7. calibration system according to claim 6, which is characterized in that the quantity of the support leg is three, respectively the One support leg (122), the second support leg (123) and third support leg (124);Wherein:
First support leg (122) is located at the middle part of described straight panel shape supporting table (121) one end;Second support leg (123) and third support leg (124) is located at the other end of the straight panel shape supporting table (121);Second support leg (123) and The third support leg (124) is the liftable support leg.
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