CN105953820B - A kind of optical calibrating device of inertial measurement combination dynamic navigation performance - Google Patents
A kind of optical calibrating device of inertial measurement combination dynamic navigation performance Download PDFInfo
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- CN105953820B CN105953820B CN201610453122.5A CN201610453122A CN105953820B CN 105953820 B CN105953820 B CN 105953820B CN 201610453122 A CN201610453122 A CN 201610453122A CN 105953820 B CN105953820 B CN 105953820B
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- inertial measurement
- displacement sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention discloses a kind of optical calibrating devices of inertial measurement combination dynamic navigation performance.Displacement is measured using single laser displacement sensor, the method of two laser displacement sensor measurement angles, inertial measurement combination is measured in real time under the external environment that shake table provides the test of dynamic navigation performance, the displacement of the real-time measurement inertial measurement combination of three dimensions and angle, and obtained angle will be measured and the output valve of displacement information and inertial measurement combination compares, to realize the purpose demarcated to the dynamic navigation performance of inertial measurement combination.Inertial measurement combination dynamic navigation performance optical calibration method proposed by the present invention realizes non-cpntact measurement, measures inertial measurement combination output in real time, and with roomy, stability is high, there is more wide application prospect.
Description
Technical field
The present invention relates to a kind of optical calibrating device of inertial measurement combination dynamic navigation performance, belong to optical sensing with
Fields of measurement.
Technical background
Inertial measurement combination is the core measuring unit of inertial navigation, and performance determines the navigation accuracy and posture of carrier
Control accuracy.Can inertial measurement combination accurately reflect the actual motion information of carrier under dynamic environment, be evaluation inertia measurement
The key of instrument performance quality.For the dynamic navigation of the inertial measurement combination under ground test stage accurate evaluation dynamic condition
Precision and attitude measurement accuracy, it is desirable to provide another independent assessment method, evaluate inertial measurement combination dynamic condition under,
Navigation in a period of time and attitude measurement performance.In order to ensure that the real-time of evaluation, the independent measurement method must be able to and be used to
Property measure measurement in a closed series time synchronization, in real time provide inertial measurement combination relative to the pitch angle of initial position, yaw angle, rolling
Angle and three-D displacement information realize the real-time calibration to inertial measurement combination dynamic property.
It is current domestic it has not been found that precision is high, it is reliable to measure, is used to using non-contacting optical means through investigation
Property measure combination multidate information measure, calibration equipment.The existing method demarcated to angle and displacement has following several：
1) it uses Circular gratings to carry out angle measurement, displacement measurement is carried out using line grating, its advantage is that high certainty of measurement, response is fast, moves
State range is big, the disadvantage is that can not achieve non-cpntact measurement, or with a distance from testee it is too far, be unable to accurate response testee
Moving situation；2) light curtain mensuration：It is measured using two orthogonal light curtains, is had accordingly at the ends CCD by the light curtain that object blocks
Form, by detecting the deformation of the morphometry object, according to deforming real-time detection angles and displacement.Advantage：Two groups of light
Curtain can measure much information simultaneously, determine the posture of sample between two groups of projection objects.Disadvantage：Precision is relatively low, and directional light is relatively difficult to ensure
Card, amount range is all smaller, underaction；3) this method needs to install one respectively on three mutually orthogonal surfaces of testee
Speculum, to realize the mirror-reflection to laser, and PSD realizations receive the laser after reflection, the torsion in vibration processes
Turn so that the laser after reflection enters the different location of PSD, by detecting the change in location of reflection laser, to measure torsion in real time
Angle.This method can not achieve non-cpntact measurement, and device is huge, and added specular reflective mirrors need to be fixed on testee,
There is certain damage to testee, and speculum may also damage in a dynamic condition.Since PSD measures position range
The case where cannot being met the requirements simultaneously with precision, therefore saturation be likely to occur under dynamic condition.Therefore, the program has larger
Limitation.
With the continuous extension of field of industrial measurement and the continuous improvement to measurement accuracy and measuring speed, traditional connects
Touch measures and cannot be satisfied demand.And non-cpntact measurement may be implemented in the laser displacement sensor based on laser triangulation,
This method has non-cpntact measurement, lossless to tested surface；Measurement Resolution is high, and precision is high；The features such as small.Based on laser position
The above advantage of displacement sensor, therefore consider to combine laser displacement sensor with the calibration of inertial measurement combination, Ke Yifei
Contact inertial measurement combination is demarcated, synchro measure its relative to the pitch angle of initial position, yaw angle, roll angle and
Three-D displacement information.
Invention content
The present invention propose it is a kind of be based on laser displacement sensor, it is non-contacting to inertial measurement combination in a dynamic condition
Performance carries out caliberating device, can provide inertial measurement combination in real time relative to the pitch angle of initial position, yaw angle, roll angle
With three-D displacement information.
Technical scheme is as follows：
A kind of optical calibrating device of inertial measurement combination dynamic navigation performance includes horizontal seismic isolation platform, one-dimensional vibration
The first angle displacement of platform, inertial measurement combination to be measured, first laser displacement sensor and second laser displacement sensor composition
Measurement assembly, the second angle displacement measurement component of third laser displacement sensor and the 4th laser displacement sensor composition, the
The third angle displacement measurement component of five laser displacement sensors and the 6th laser displacement sensor composition；One-dimensional shake table is fixed
In horizontal seismic isolation platform surface, three angle displacement measurement assemblies are fixed on horizontal seismic isolation platform surface, inertia measurement group to be measured
The surface for being fixed on one-dimensional shake table is closed, three angle displacement measurement assemblies are arranged in around inertial measurement combination to be measured and are used for
Measure three-D displacement, pitch angle, roll angle and the yaw angle of inertial measurement combination to be measured.The one-dimensional shake table is in n coordinates
Under system, one-dimensional vibration can be generated in the Y direction, surface is parallel to X/Y plane.There are three mutually for the inertial measurement combination to be measured
Mutually orthogonal plane, wherein the first plane is parallel to XZ planes, the second plane is parallel to X/Y plane, and it is flat that third plane is parallel to YZ
Face.
Further, the first laser displacement sensor and second laser displacement sensor are mutually parallel and make
Two beam laser impinge perpendicularly in the first plane of inertial measurement combination to be measured；Third laser displacement sensor and the 4th laser position
Displacement sensor is mutually parallel and so that two beam laser impinge perpendicularly in the second plane of inertial measurement combination to be measured；5th swashs
Optical displacement sensor and the 6th laser displacement sensor are mutually parallel and so that two beam laser impinge perpendicularly on inertia to be measured and survey
In the third plane for measuring combination.
The invention has the advantages that the present invention realizes the non-contact optical mark of inertial measurement combination dynamic navigation performance
Fixed, the laser displacement sensor that this method is imaged based on optics diffusing reflection triangle is realized and is surveyed using two laser displacement sensors
The one-dimensional corner of inertial measurement combination is measured, and then realizes the measurement of three-dimensional perspective and displacement using six road laser displacement sensors,
And it is aided with corresponding machinery adjustment and alignment device and information collection and processing system, it can be in real time to inertia measurement group
The dynamic property of conjunction is demarcated.Advantage is that non-contacting measurement is lossless for inertial measurement combination to be measured, and measures essence
Degree is high, and real-time synchronization, the calibration for the dynamic navigation performance of inertial measurement combination provides effective scaling method.
Description of the drawings
Fig. 1 is the optical calibrating system diagram of inertial measurement combination dynamic navigation performance.
Specific implementation mode
The present invention is described in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of optical calibrating device of inertial measurement combination dynamic navigation performance includes horizontal seismic isolation platform
1, one-dimensional shake table 2, inertial measurement combination to be measured 3, first laser displacement sensor 4 and second laser displacement sensor 5 form
First angle displacement measurement component 13, third laser displacement sensor 6 and the 4th laser displacement sensor 7 composition second jiao
The third angle displacement for spending displacement measurement component 14, the 5th laser displacement sensor 8 and the 6th laser displacement sensor 9 composition is surveyed
Measure component 15；One-dimensional shake table 2 is fixed on 1 surface of horizontal seismic isolation platform, three angle displacement measurement assemblies be fixed on it is horizontal every
1 surface of platform is shaken, inertial measurement combination 3 to be measured is fixed on the surface of one-dimensional shake table 2, three angle displacement measurement assembly arrangements
Around inertial measurement combination 3 to be measured for measure the three-D displacement of inertial measurement combination 3 to be measured, pitch angle, roll angle and
Yaw angle.
One-dimensional shake table 2 can generate one-dimensional vibration, surface is parallel to X/Y plane in the Y direction under n coordinate systems.It is described
Inertial measurement combination to be measured 3 there are three mutually orthogonal plane, under n coordinate systems, wherein to be parallel to XZ flat for the first plane 10
Face, the second plane 11 are parallel to X/Y plane, and third plane 12 is parallel to YZ planes.4 He of first laser displacement sensor
Second laser displacement sensor 5 is mutually parallel and so that two beam laser impinge perpendicularly on the first of inertial measurement combination 3 to be measured
In plane 10；Third laser displacement sensor 6 and the 4th laser displacement sensor 7 are mutually parallel and make two beam laser vertical
It is incident in the second plane 11 of inertial measurement combination 3 to be measured；5th laser displacement sensor 8 and the 6th laser displacement sensor
9 are mutually parallel and so that two beam laser impinge perpendicularly in the third plane 12 of inertial measurement combination 3 to be measured.
The workflow of the optical calibrating device of the inertial measurement combination dynamic navigation performance is as follows：
In first angle displacement measurement component 13 residing for first laser displacement sensor 4 and second laser displacement sensor 5
Plane be parallel to X/Y plane, its spacing L1, two beam laser of outgoing are mutually parallel, and in the initial state perpendicular to waiting for
The first plane 10 for surveying object, under original state, it is S that first laser displacement sensor 4, which measures obtained displacement,1', second laser
It is S that displacement sensor 5, which measures obtained displacement,2', when inertial measurement combination 3 to be measured turns about the Z axis angleWhen, angleThe
One laser displacement sensor 4 measures obtained displacement S1, second laser displacement sensor 5 measure obtained displacement S2With two laser
The distance between beam L1Relationship beBy measuring S1、S2With known L1, inertia to be measured is measured in real time
Measure the movement angle of combination 3 about the z axis, i.e. yaw angleDisplacement of the inertial measurement combination 3 to be measured along Y-axis can be obtained simultaneously
The institute of third laser displacement sensor 6 and the 4th laser displacement sensor 7 in second angle displacement measurement component 14
The plane at place is parallel to ZY planes, its spacing L2, two beam laser of outgoing are mutually parallel, and in the initial state perpendicular to
Second plane 11 of object under test, under original state, it is S that third laser displacement sensor 6, which measures obtained displacement,3', the 4th swashs
It is S that Optical displacement sensor 7, which measures obtained displacement,4', when inertial measurement combination 3 to be measured turns about the X axis angle φ, angle φ,
Third laser displacement sensor 6 measures obtained displacement S3, the 4th laser displacement sensor 7 measure obtained displacement S4Swash with two
The distance between light beam L2Relationship beBy measuring S3、S4With known L2, measure in real time to be measured used
Property measure combination 3 around the movement angles of X-axis, i.e. roll angle φ, while displacement of the inertial measurement combination 3 to be measured along Z axis can be obtained
The institute of 5th laser displacement sensor 8 and the 6th laser displacement sensor 9 in third angle displacement measurement component 15
The plane at place is parallel to ZX planes, its spacing L3, two beam laser of outgoing are mutually parallel, and in the initial state perpendicular to
The third plane 12 of object under test, under original state, it is S that the 5th laser displacement sensor, which measures the displacement that 8 obtain,5', the 6th swashs
It is S that Optical displacement sensor 9, which measures obtained displacement,6', when inertial measurement combination 3 to be measured is around Y-axis rotational angle θ, angle, θ,
Five laser displacement sensors 8 measure obtained displacement S5, the 6th laser displacement sensor 9 measure obtained displacement S6With two laser
The distance between beam L3Relationship beBy measuring S5、S6With known L3, inertia to be measured is measured in real time
The movement angle of combination 3 about the z axis, i.e. yaw angle θ are measured, while displacement of the inertial measurement combination 3 to be measured along X-axis can be obtained
When one-dimensional shake table is along dynamic navigation performance of the Y axis vibration to test inertial measurement combination, inertia measurement group
Close synchronism output three-D displacement information Ix, Iy, Iz and three-dimensional perspective informationIθ, Iφ, two results are compared, you can obtain
The measurement error of three-dimensional perspective and three-D displacement is inertial measurement combination in a dynamic condition：
The calibration of inertial measurement combination dynamic navigation performance can be realized, i.e., the performance of inertial measurement combination is made and commenting
Valence.
The optical calibrating device of the present invention can also be connected with data processing system constitutes optical calibrating system, data processing
System is for handling three-D displacement information and three-dimensional perspective information, you can realizes the mark of inertial measurement combination dynamic navigation performance
It is fixed, i.e., evaluation is made to the performance of inertial measurement combination.Data processing system can be host computer or data processing chip.
Claims (1)
1. a kind of optical calibrating device of inertial measurement combination dynamic navigation performance, it is characterised in that contain horizontal seismic isolation platform
（1）, one-dimensional shake table（2）, inertial measurement combination to be measured（3）, first laser displacement sensor（4）With second laser displacement sensing
Device（5）The first angle displacement measurement component of composition（13）, third laser displacement sensor（6）With the 4th laser displacement sensor
（7）The second angle displacement measurement component of composition（14）, the 5th laser displacement sensor（8）With the 6th laser displacement sensor
（9）The third angle displacement measurement component of composition（15）；One-dimensional shake table（2）It is fixed on horizontal seismic isolation platform（1）Surface, three
Angle displacement measurement assembly is fixed on horizontal seismic isolation platform（1）Surface, inertial measurement combination to be measured（3）It is fixed on one-dimensional shake table
（2）Surface, three angle displacement measurement assemblies are arranged in inertial measurement combination to be measured（3）Around for measuring inertia to be measured
Measure combination（3）Three-D displacement, pitch angle, roll angle and yaw angle；The one-dimensional shake table（2）It can generate in the Y direction
One-dimensional vibration, surface are parallel to X/Y plane；The inertial measurement combination to be measured（3）There are three mutually orthogonal plane,
In the first plane（10）It is parallel to XZ planes, the second plane（11）It is parallel to X/Y plane, third plane（12）It is parallel to YZ planes；
The first laser displacement sensor（4）With second laser displacement sensor（5）It is mutually parallel and two beam laser is hung down
Directly it is incident on inertial measurement combination to be measured（3）The first plane（10）On；Third laser displacement sensor（6）With the 4th laser position
Displacement sensor（7）It is mutually parallel and so that two beam laser impinges perpendicularly on inertial measurement combination to be measured（3）The second plane
（11）On；5th laser displacement sensor（8）With the 6th laser displacement sensor（9）It is mutually parallel and two beam laser is hung down
Directly it is incident on inertial measurement combination to be measured（3）Third plane（12）On.
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Inventor after: Liu Cheng Inventor after: Chen Lei Inventor after: Zhang Dengwei Inventor after: Shu Xiaowu Inventor before: Zhang Dengwei Inventor before: Chen Lei Inventor before: Shu Xiaowu Inventor before: Liu Cheng |
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