CN106092142A - A kind of inertial navigation calibration system metering and calibrating device - Google Patents
A kind of inertial navigation calibration system metering and calibrating device Download PDFInfo
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- CN106092142A CN106092142A CN201610687774.5A CN201610687774A CN106092142A CN 106092142 A CN106092142 A CN 106092142A CN 201610687774 A CN201610687774 A CN 201610687774A CN 106092142 A CN106092142 A CN 106092142A
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- autocollimator
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- rib body
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The present invention is to provide a kind of inertial navigation calibration system metering and calibrating device.Inertial navigation calibration system metering and calibrating device is constituted: at assay device built with electronics autocollimator, rib body mandrel and 23 rib bodies, constitute turning error assay device, and control main frame equipped with calibrating, control main frame in calibrating and control management software built with calibrating, constitute assay device controller.The present invention can complete existing inertial navigation calibration facility measurement verification, and it can be implemented motor-driven guarantee；Reach the requirement of " generalization, seriation, modularization "；Reliability is high, risk is little, simple in construction, easy and simple to handle, reliable operation.Suitably the device as inertial navigation calibration facility measurement verification is applied.
Description
Technical field
The present invention is to provide a kind of inertial navigation calibration system metering and calibrating device in detecting instrument field.
Background technology
Inertial navigation set is widely used in the field such as space flight, navigation, plays an important role, itself value accurately with
No, most important.But owing to being limited by self-characteristic, inertial navigation equipment needs periodic calibrating, and the performance indications of calibration facility will be straight
Connect the calibrated error affecting inertial navigation equipment, be badly in need of carrying out inertial navigation calibration facility measurement verification technology correlational study, research and develop inertial navigation mark
Locking equipment metering and calibrating device, for carrying out the Metrology Support of inertial navigation calibration facility.
Inertial navigation calibration facility is made up of turntable and test cabinet, and test cabinet has ensured equipment.Current each measurement technology
Mechanism does not also have the Metrology Support equipment of turntable turning error, therefore, need to develop inertial navigation calibration system metering and calibrating device, with
Form Metrology Support ability.
Summary of the invention
In order to study inertial navigation calibration system metering and calibrating device, the present invention proposes a kind of inertial navigation calibration system measurement verification
Device.This device measures rib body mandrel and the deflection angle of 23 rib bodies by autocollimator, solves the metering of inertial navigation calibration system
Technical problem.
Inertial navigation calibration system metering and calibrating device turns to fundamental guiding ideology with general, meets the metering of inertial navigation calibration facility
Demand, taking into account the development trend that looks to the future increases extensibility, with novel inertial navigation in satisfied future calibration facility Metrology Support demand.
By technical specification meet require, stable and reliable for performance based on, it is achieved the design concept that portability is unified with maintainability, it is ensured that
Equipment quality.
The basic principle of conceptual design is to ensure that the advance of inertial navigation calibration system metering and calibrating device, meets environment and adapts to
Property, mobility, reliability, safety, maintainability, practicality and the requirement of economy.
The present invention solves the scheme that technical problem used:
Inertial navigation calibration system metering and calibrating device is constituted:
At assay device built with electronics autocollimator, rib body mandrel and 23 rib bodies, constitute turning error assay device, and
Control main frame equipped with calibrating, control main frame in calibrating and control management software built with calibrating, constitute turning error assay device
With assay device controller.
Use inertial navigation marking meter:
When calibrating, 23 rib bodies are coaxially connected with turntable annulate shaft by rib body mandrel, then measured rib dignity by collimator
Angular deviation, then controlled autocollimator survey number by calibrating controller, the data recorded are carried out calibrating and controls management and software control
Tubulation is managed.
Installing turntable axle head, and adjust coaxial, rotating platform control system control turntable and rotate predetermined angular, 23 rib bodies turn
Dynamic angle is 15 ° 39 ' 7.8 ", electronics autocollimator measures rib dignity angular deviation under calibrating controller controls, calibrating control
Measurement data is processed, analyzes and provide conclusion by tubulation reason software.
Turning error Special calibration device is built by electronics autocollimator, 23 rib bodies, rib body mandrels.
Wherein, 23 rib bodies, rib body mandrels are coaxially connected with turntable annulate shaft, measure and obtain being measured by autocollimator after series connection
Rib dignity angular deviation, must examine and determine controller and control autocollimator survey number, be controlled management by controlling management software.
(1) electronics autocollimator:
In object lens side, plane mirror is installed, at object lens opposite side, spectroscope is installed, equipped with ccd sensor on spectroscope,
By graticle, light source is installed on spectroscope top.
Electronics autocollimator is combined by a high-resolution ccd sensor and supporting objective lens tube.Wherein, by flat
The signal of face mirror collection is formed image bundle after being focused on by object lens and concentrates on spectroscope, and light source is radiated at point by graticle
On light microscopic, ccd sensor receives spectroscopic signal, forms autocollimator signal, determines optical signal auto-collimation.
It combines collimator and the unique apparatus of telescope performance, and the directional light sent by self detects reflection
The angular displacement on mirror surface.Autocollimator possesses very prominent optical property, is projected infinitely by graticle by light source lighting
Far, and finally receiving the graticle image reflected through plane mirror surface, the reflection image received focuses on electronics through object lens
In CCD camera.The graticle of illumination and CCD plan-position are to combine overall light path to determine.When collimated light beam projects almost
Time on the reflecting mirror vertical with beam axis, cross hairs image will be in CCD near center location, if now by mirror tilt
Certain angle [alpha], then reflection image can relatively primitive position laterally offset displacement d, side-play amount d is inclined angle alpha and the letter of objective focal length f
Number: d=2 α f.After measuring side-play amount d by CCD, formula below calculate inclined angle alpha: α=d/2f.Side-play amount and inclination angle
Linear, and measurement result is unrelated with the distance of device to reflecting mirror.
(2) 23 rib bodies:
Polygon is a kind of High-precision angle standard utensil.It is mainly used in examining and determine circular dividing table, clinometer circular division instrument
The error of division.Even number face rib body, if the operating angles of 12,24 are the whole number of degrees, for examining and determine the large period of circular division utensil axle system
Error, it is also possible to carry out diameter measurement；The operating angle that odd number face rib body is such as 17,23 is the non-whole number of degrees, and it can comprehensively be examined and determine
The long periodic error of circular division utensil axle system and the minor-cyclic error of mircrometer gauge, can more correctly determine the most true of circular division utensil
Fixed degree.
(3) rib body mandrel:
23 rib bodies cannot be directly installed on the axle head of inertial navigation calibration facility turntable, and needing special calibrating frock to coordinate can make
With.
Inertial navigation calibration system metering and calibrating device carina body mandrel is installed on turntable table core, 23 rib body dresses
On rib body mandrel, autocollimator is installed on support, makes autocollimator be perpendicular to 23 rib body running faces, passes through turning table control
System controls turntable corner, and special calibrating software system controls autocollimator by controller and reads angle position information, and carries out
Data analysis.
Verifying process flow: shown in Fig. 4, for detection object, detection object, by after inertial navigation calibration facility turntable, passes through
Rib body mandrel and 23 rib bodies, then after autocollimator, pass to controller, believed with detection in controller by calibrating software
Number formed detection data, wherein, autocollimator and equipped with calibrating software controller formed assay device.
(4), twin shaft rate table internal ring, the calibrating of outer annulate shaft orientation angle site error:
Being separately installed with electronics autocollimator and control system on support upper mounting plate, electronics autocollimator and control system are mutual
Communication, on control system top equipped with display device, display device and the mutual communication of control system, by propping up in measurement apparatus
Frame and outside framework and inner frame are equipped with display, equipped with rib body mandrel in display axis, equipped with 23 ribs on rib body mandrel
Body.
The calibrating of turntable orientation angle site error, is provided with rib body mandrel by inner frame and outside framework on assay device
With 23 rib bodies, support is provided with platform, platform is installed electronics autocollimator and control system, on control system top
Mount display, formation signal contact passage between control system and electronics autocollimator, and electronics autocollimator and rib body
Sense channel is formed between mandrel and 23 rib bodies.It is generally all the axial end that autocollimator is arranged on measured axis, adjusts certainly
Collimator is coaxial with measured axis, requires to rotate measured axis according still further to calibration method, makes measured axis rotate fixing angle, by certainly
The turning error of measured axis each position point measured by collimator, checks the positioning precision of this axle.At internal ring or outer shroud framework outer wall
Installing hole installs rib body mandrel, installs 23 rib bodies, rationally placed by autocollimator and to pass through support frame good on rib body mandrel,
Ensure that the framework of measured axis will not block light path on detection location point.Turntable is started, from the beginning of measured axis by turning table control rack
Beginning zero-bit starts, successively given position instruction, and control system is successively read and processes the registration of autocollimator, special calibrating software
Carry out data sampling and processing, transmission, it is achieved to internal ring, the calibrating of outer shroud orientation angle site error.
(5), calibrating controller:
Calibrating controller is successively by embedded computer, adapter unit, communication interface unit, collection of simulant signal unit, defeated
Enter output control unit, Power Management Unit and mainframe box composition, control management software at mainframe box built with calibrating.
Wherein embedded computer is calibrating controller core, completes the work such as data process, certificate is provided；Adapter list
Unit completes level conversion, the conditioning of interface conversion signal and process；Communication interface unit completes to examine and determine software and turning error
Special calibration device communication function；Collection of simulant signal unit Usage data collection card gathers signal, it is provided that supply voltage is monitored
With display function；Input and output control unit completes facility switching amount and controls；Power Management Unit provides phase for system unit
Power supply is answered to export.
(6), panel:
Equipped with display on panel, it is respectively provided with voltage x current display, interface, 12 volts of outputs from top to bottom in panel side
Interface, 2 USB interface, 2 RS232 interfaces, 220 volts of power input interfaces, LAN interface, power switch button and computer are multiple
Position button.
Embedded computer display is 12 cun of TFT LCD, INTET atom double-core low-power consumption CPU, 2G low in calories
Internal memory, 64G solid state hard disc, possess touch screen and show, external keyboard can be used to operate, can carry windows XP or windows
7 operating systems, meet this application and use requirement.
Embedded computer is built in special shockproof waterproof cabinet and provides basic protection, and is designed as externally providing 2 RS-
232 serial communication interfaces, 2 USB2.0 interfaces, 1 RJ45 network interface, 1 220V power input interface, 1 Angle Position is by mistake
Difference Special calibration device special purpose interface, 1 12V direct voltage output interface, possess input and output voltage and monitor in real time with electric current
Display function, the RJ45 network interface of every equipment configuration is reserved as to carry out data interaction with other Managing System, makes
It possesses extended capability.
(7), calibrating control management software:
Calibrating controls software mechanism: calibrating controls management software and inputs to user management module, automatic Verification module, communication respectively
Control module, data processing module, record management, certificate management and task management.
Good effect, the present invention can complete inertial navigation calibration facility measurement verification, and it can be implemented motor-driven guarantee；Reach
Requirement to " generalization, seriation, modularization "；Reliability is high, risk is little, device structure is simple, easy and simple to handle, and work can
Lean on.Suitably the device as inertial navigation calibration facility measurement verification is applied.
Accompanying drawing explanation
Fig. 1 is inertial navigation calibration system metering and calibrating device composition frame chart of the present invention；
Fig. 2 is workflow diagram of the present invention；
Fig. 3 is electronics autocollimator schematic diagram of the present invention；
Fig. 4 is verification process schematic diagram of the present invention；
Fig. 5 is that twin shaft rate table internal ring orientation angle site error of the present invention examines and determine schematic diagram；
Fig. 6 is that twin shaft rate table outer shroud orientation angle site error of the present invention examines and determine schematic diagram；
Fig. 7 is that the present invention examines and determine controller composition frame chart；
Fig. 8 is panel construction schematic diagram of the present invention；
Fig. 9 is that the present invention examines and determine control management software configuration schematic diagram.
In figure, 01. plane mirror, 02. object lens, 03. light source, 04. graticle, 05. spectroscope, 06.CCD sensor, 07.
Frame, 08. display device, 09. control system, 010. electronics autocollimator, 011. outside framework, 012. inner frame, 013. rib body core
Axle, 014.23 rib body, 1. panel, 2. display screen, 3. voltage x current shows, 4. special purpose interface, 5.12V output interface, 6.USB
Interface, 7.RS232 interface, 8.220V input interface, 9.LAN interface, 10. power switch button, 11. computer reset keys,
12. light sources, 13. graticles, 14. spectroscopes, 15. object lens, 16. plane mirrors.
Detailed description of the invention
Inertial navigation calibration system metering and calibrating device is constituted: shown in Fig. 1, at assay device built with electronics autocollimator, rib
Body mandrel and 23 rib bodies, constitute turning error assay device, and control main frame equipped with calibrating, controls main frame in calibrating built-in
There is calibrating to control management software, constitute turning error assay device and assay device controller.
Use inertial navigation marking meter: shown in Fig. 2, when calibrating, by 23 rib bodies by rib body mandrel and turntable
Annulate shaft is coaxially connected, and is then measured rib dignity angular deviation by collimator, then is controlled autocollimator survey number by calibrating controller, right
The data recorded carry out calibrating and control management and software control management.
Installing turntable axle head, and adjust coaxial, rotating platform control system control turntable and rotate predetermined angular, 23 rib bodies turn
Dynamic angle is 15 ° 39 ' 7.8 ", electronics autocollimator measures rib dignity angular deviation under calibrating controller controls, calibrating control
Measurement data is processed, analyzes and provide conclusion by tubulation reason software.
Turning error Special calibration device is built by electronics autocollimator, 23 rib bodies, rib body mandrels.
Wherein, 23 rib bodies, rib body mandrels are coaxially connected with turntable annulate shaft, measure and obtain being measured by autocollimator after series connection
Rib dignity angular deviation, must examine and determine controller and control autocollimator survey number, be controlled management by controlling management software.
Electronics autocollimator: shown in Fig. 3:
In object lens 15 side, plane mirror 16 is installed, at object lens opposite side, spectroscope 14 is installed, spectroscope passes equipped with CCD
Sensor, is provided with light source 12 on spectroscope top by graticle 13.
Electronics autocollimator is combined by a high-resolution ccd sensor and supporting objective lens tube.Wherein, by flat
The signal of face mirror collection is formed image bundle after being focused on by object lens and concentrates on spectroscope, and light source is radiated at point by graticle
On light microscopic, ccd sensor receives spectroscopic signal, forms autocollimator signal, determines optical signal auto-collimation.
It combines collimator and the unique apparatus of telescope performance, and the directional light sent by self detects reflection
The angular displacement on mirror surface.Autocollimator possesses very prominent optical property, is projected infinitely by graticle by light source lighting
Far, and finally receiving the graticle image reflected through plane mirror surface, the reflection image received focuses on electronics through object lens
In CCD camera.The graticle of illumination and CCD plan-position are to combine overall light path to determine.When collimated light beam projects almost
Time on the reflecting mirror vertical with beam axis, cross hairs image will be in CCD near center location, if now by mirror tilt
Certain angle [alpha], then reflection image can relatively primitive position laterally offset displacement d, side-play amount d is inclined angle alpha and the letter of objective focal length f
Number: d=2 α f.After measuring side-play amount d by CCD, formula below calculate inclined angle alpha: α=d/2f.Side-play amount and inclination angle
Linear, and measurement result is unrelated with the distance of device to reflecting mirror.
(2) 23 rib bodies:
Polygon is a kind of High-precision angle standard utensil.It is mainly used in examining and determine circular dividing table, clinometer circular division instrument
The error of division.Even number face rib body, if the operating angles of 12,24 are the whole number of degrees, for examining and determine the large period of circular division utensil axle system
Error, it is also possible to carry out diameter measurement；The operating angle that odd number face rib body is such as 17,23 is the non-whole number of degrees, and it can comprehensively be examined and determine
The long periodic error of circular division utensil axle system and the minor-cyclic error of mircrometer gauge, can more correctly determine the most true of circular division utensil
Fixed degree.
(3) rib body mandrel:
23 rib bodies cannot be directly installed on the axle head of inertial navigation calibration facility turntable, and needing special calibrating frock to coordinate can make
With.
Inertial navigation calibration system metering and calibrating device carina body mandrel is installed on turntable table core, 23 rib body dresses
On rib body mandrel, autocollimator is installed on support, makes autocollimator be perpendicular to 23 rib body running faces, passes through turning table control
System controls turntable corner, and special calibrating software system controls autocollimator by controller and reads angle position information, and carries out
Data analysis.
Verifying process flow: shown in Fig. 4, for detection object, detection object, by after inertial navigation calibration facility turntable, passes through
Rib body mandrel and 23 rib bodies, then after autocollimator, pass to controller, believed with detection in controller by calibrating software
Number formed detection data, wherein, autocollimator and equipped with calibrating software controller formed assay device.
(4), twin shaft rate table internal ring, the calibrating of outer annulate shaft orientation angle site error:
Shown in Fig. 5 and Fig. 6: be separately installed with electronics autocollimator 010 and control system 09, electronics on support 07 upper mounting plate
Autocollimator and the mutual communication of control system, on control system top equipped with display device 08, display device and control system phase
Mutually communication, in measurement apparatus by support and outside framework 011 with inner frame 012 equipped with display, in display axis equipped with
Rib body mandrel 013, equipped with 23 rib bodies 014 on rib body mandrel.
The calibrating of turntable orientation angle site error, is provided with rib body mandrel by inner frame and outside framework on assay device
With 23 rib bodies, support is provided with platform, platform is installed electronics autocollimator and control system, on control system top
Mount display, formation signal contact passage between control system and electronics autocollimator, and electronics autocollimator and rib body
Sense channel is formed between mandrel and 23 rib bodies.It is generally all the axial end that autocollimator is arranged on measured axis, adjusts certainly
Collimator is coaxial with measured axis, requires to rotate measured axis according still further to calibration method, makes measured axis rotate fixing angle, by certainly
The turning error of measured axis each position point measured by collimator, checks the positioning precision of this axle.At internal ring or outer shroud framework outer wall
Installing hole installs rib body mandrel, installs 23 rib bodies, rationally placed by autocollimator and to pass through support frame good on rib body mandrel,
Ensure that the framework of measured axis will not block light path on detection location point.Turntable is started, from the beginning of measured axis by turning table control rack
Beginning zero-bit starts, successively given position instruction, and control system is successively read and processes the registration of autocollimator, special calibrating software
Carry out data sampling and processing, transmission, it is achieved to internal ring, the calibrating of outer shroud orientation angle site error.
(5), calibrating controller: shown in Fig. 7, calibrating controller is successively by embedded computer, adapter unit, communication
Interface unit, collection of simulant signal unit, input and output control unit, Power Management Unit and mainframe box composition, at mainframe box
Management software is controlled built with calibrating.
Wherein embedded computer is calibrating controller core, completes the work such as data process, certificate is provided；Adapter list
Unit completes level conversion, the conditioning of interface conversion signal and process；Communication interface unit completes to examine and determine software and turning error
Special calibration device communication function；Collection of simulant signal unit Usage data collection card gathers signal, it is provided that supply voltage is monitored
With display function；Input and output control unit completes facility switching amount and controls；Power Management Unit provides phase for system unit
Power supply is answered to export.
(6), panel: shown in Fig. 8: equipped with display 2 on panel 1, be respectively provided with electricity from top to bottom in panel side
Current voltage display 3,5,2 USB interface of 4,12 volts of output interfaces of interface, 7,220 volts of power input interfaces of 6,2 RS232 interfaces
8, LAN interface 9, power switch button 10 and computer reset key 11.
Embedded computer display is 12 cun of TFT LCD, INTET atom double-core low-power consumption CPU, 2G low in calories
Internal memory, 64G solid state hard disc, possess touch screen and show, external keyboard can be used to operate, can carry windows XP or windows
7 operating systems, meet this application and use requirement.
Embedded computer is built in special shockproof waterproof cabinet and provides basic protection, and is designed as externally providing 2 RS-
232 serial communication interfaces, 2 USB2.0 interfaces, 1 RJ45 network interface, 1 220V power input interface, 1 Angle Position is by mistake
Difference Special calibration device special purpose interface, 1 12V direct voltage output interface, possess input and output voltage and monitor in real time with electric current
Display function, the RJ45 network interface of every equipment configuration is reserved as to carry out data interaction with other Managing System, makes
It possesses extended capability.
(7), calibrating controls management software: as it is shown in figure 9, calibrating controls software mechanism: calibrating controls management software respectively
Input to user management module, automatic Verification module, communication control module, data processing module, record management, certificate management and
Task management.
1) complete the automatic gauge verification process of inertial navigation calibration facility, form original data record list, calibration certificate etc.；
2) data interaction function is realized；
3) storage measurement verification during produce relevant data and carry out data analysis；
4) management for information about such as initial data, certificate, equipment, resource is realized.
After setting inertial navigation calibration facility carries out corner, calibrating control management software reading turning error is special examines and determine dress
Put data to measure, form report by data record, computational analysis, complete the measurement verification work of inertial navigation calibration facility turntable
Make.
The present invention uses condition:
1) assay device use condition:
Operating temperature: (18～25) DEG C；
Ambient humidity: (0～65) %RH；
Power supply: (198～242) V, 50Hz；
2) assay device storage requirement；
Technology, performance indications:
1) angular position measurement scope: (0～360) °；
3) main frame overall dimensions: 639 (length) × 150 (wide) × 116 (high) (mm)；
4) controller overall dimensions: 450 × 350 × 200(mm).
Means of transportation:
Train, automobile, aircraft dispatch mode.
Protection:
1) it is designed with the technology of maturation, it then follows generalization, seriation, modularization principle, meets protection requirement；
Safety:
Have safety instruction mark, indicate eye-catching, meaning is clear and definite.
Testability:
Can measurement technology mechanism trace to the source at home.
Major function:
One is the original position metering and calibrating function realizing angular position measurement orientation angle site error.Mainly control autocollimatic by controller
Straight instrument, utilizes 23 the rib bodies being arranged on turntable axle head by rib body mandrel, it is achieved to turntable internal ring, outer shroud orientation angle position by mistake
The measurement verification function of difference, and automatically recorded by controller, store, data analysis, be given with reference to conclusion.
Claims (1)
1. an inertial navigation calibration system metering and calibrating device, it is characterised in that:
Inertial navigation calibration system metering and calibrating device is constituted:
At assay device built with electronics autocollimator, rib body mandrel and 23 rib bodies, constitute turning error assay device, and
Control main frame equipped with calibrating, control main frame in calibrating and control management software built with calibrating, constitute turning error assay device
With assay device controller；
Use inertial navigation marking meter:
When calibrating, 23 rib bodies are coaxially connected with turntable annulate shaft by rib body mandrel, then measured rib dignity by collimator
Angular deviation, then controlled autocollimator survey number by calibrating controller, the data recorded are carried out calibrating and controls management and software control
Tubulation is managed；
Turntable axle head is installed, and adjusts coaxial, rotating platform control system control turntable and rotate predetermined angular, 23 rib body angles of rotation
Degree is 15 ° 39 ' 7.8 ", electronics autocollimator measures rib dignity angular deviation under calibrating controller controls, calibrating control pipe
Measurement data is processed, analyzes and provide conclusion by reason software；
Turning error Special calibration device is built by electronics autocollimator, 23 rib bodies, rib body mandrels；
Wherein, 23 rib bodies, rib body mandrels are coaxially connected with turntable annulate shaft, measure and obtain being measured rib body by autocollimator after series connection
Face angular deviation, must examine and determine controller and control autocollimator survey number, be controlled management by controlling management software；
Electronics autocollimator:
In object lens (15) side, plane mirror (16) is installed, at object lens opposite side, spectroscope (14) is installed, spectroscope fills
There is ccd sensor, by graticle (13), light source (12) is installed on spectroscope top；
Electronics autocollimator is combined by a high-resolution ccd sensor and supporting objective lens tube；Wherein, plane mirror is passed through
The signal gathered is formed image bundle after being focused on by object lens and concentrates on spectroscope, and light source is radiated at spectroscope by graticle
On, ccd sensor receives spectroscopic signal, forms autocollimator signal, determines optical signal auto-collimation；
It combines collimator and the unique apparatus of telescope performance, and the directional light sent by self detects reflecting mirror table
The angular displacement in face；Autocollimator possesses very prominent optical property, by light source lighting, graticle is projected infinity, and
Finally receiving the graticle image reflected through plane mirror surface, the reflection image received focuses on electronic CCD phase through object lens
On machine；The graticle of illumination and CCD plan-position are to combine overall light path to determine；When collimated light beam project almost with beam
Time on the reflecting mirror that axle is vertical, cross hairs image will be in CCD near center location, if now by certain angle of mirror tilt
Degree α, then reflection image can relatively primitive position laterally offset displacement d, side-play amount d is inclined angle alpha and the function of objective focal length f: d=2
αf；After measuring side-play amount d by CCD, formula below calculate inclined angle alpha: α=d/2f；Side-play amount is linear with inclination angle
Relation, and measurement result is unrelated with the distance of device to reflecting mirror；
(2) 23 rib bodies:
Polygon is a kind of High-precision angle standard utensil；For examining and determine the indexing mistake of circular dividing table, clinometer circular division instrument
Difference；Even number face rib body, if the operating angles of 12,24 are the whole number of degrees, for examining and determine the long periodic error of circular division utensil axle system, also
Diameter measurement can be carried out；The operating angle that odd number face rib body is such as 17,23 is the non-whole number of degrees, and it can comprehensively examine and determine circular protractor
The long periodic error of tool axle system and the minor-cyclic error of mircrometer gauge, can more correctly determine the uncertainty of circular division utensil；
(3) rib body mandrel:
23 rib bodies cannot be directly installed on the axle head of inertial navigation calibration facility turntable, and needing special calibrating frock to coordinate can make
With；
Inertial navigation calibration system metering and calibrating device carina body mandrel is installed on turntable table core, and 23 rib bodies are contained in rib
On body mandrel, autocollimator is installed on support, makes autocollimator be perpendicular to 23 rib body running faces, passes through rotating platform control system
Controlling turntable corner, special calibrating software system controls autocollimator by controller and reads angle position information, and carries out data
Analyze；
Verifying process flow:
For detection object, detection object is by after inertial navigation calibration facility turntable, through rib body mandrel and 23 rib bodies, then warp
After autocollimator, pass to controller, in controller, form detection data with detection signal by calibrating software, wherein, certainly
Collimator and the controller equipped with calibrating software form assay device；
(4), twin shaft rate table internal ring, the calibrating of outer annulate shaft orientation angle site error:
Support (07) upper mounting plate is separately installed with electronics autocollimator (010) and control system (09), electronics autocollimator
Communication mutual with control system, on control system top equipped with display device (08), display device and the mutual communication of control system,
Measurement apparatus is passed through support and outside framework (011) with inner frame (012) equipped with display, equipped with rib body in display axis
Mandrel (013), equipped with 23 rib bodies (014) on rib body mandrel；
The calibrating of turntable orientation angle site error, is provided with rib body mandrel and 23 by inner frame and outside framework on assay device
Face rib body, is provided with platform on support, installs electronics autocollimator and control system, install on control system top on platform
Display device, formation signal contact passage between control system and electronics autocollimator, and electronics autocollimator and rib body mandrel
And between 23 rib bodies, form sense channel；It is generally all the axial end that autocollimator is arranged on measured axis, adjusts auto-collimation
Instrument is coaxial with measured axis, requires to rotate measured axis according still further to calibration method, makes measured axis rotate fixing angle, passes through auto-collimation
The turning error of measured axis each position point measured by instrument, checks the positioning precision of this axle；Install at internal ring or outer shroud framework outer wall
Rib body mandrel is installed in hole, installs 23 rib bodies, rationally placed by autocollimator and to pass through support frame good on rib body mandrel, it is ensured that
On detection location point, the framework of measured axis will not block light path；Turntable is started, from measured axis initial zero by turning table control rack
Position starts, successively given position instruction, and control system is successively read and processes the registration of autocollimator, and special calibrating software is carried out
Data sampling and processing, transmission, it is achieved to internal ring, the calibrating of outer shroud orientation angle site error；
(5), calibrating controller:
Calibrating controller is successively by embedded computer, adapter unit, communication interface unit, collection of simulant signal unit, defeated
Enter output control unit, Power Management Unit and mainframe box composition, control management software at mainframe box built with calibrating；
Wherein embedded computer is calibrating controller core, completes the work such as data process, certificate is provided；Adapter unit is complete
Become level conversion, the conditioning of interface conversion signal and process；It is special with turning error that communication interface unit completes to examine and determine software
Assay device communication function；Collection of simulant signal unit Usage data collection card gathers signal, it is provided that supply voltage monitoring is with aobvious
Show function；Input and output control unit completes facility switching amount and controls；Power Management Unit provides corresponding electricity for system unit
Source exports；
(6), panel:
Equipped with display (2) on panel (1), it is respectively provided with voltage x current display (3), interface from top to bottom in panel side
(4), 12 volts of output interfaces (5), 2 USB interface (6), 2 RS232 interfaces (7), 220 volts of power input interfaces (8), LAN connect
Mouth (9), power switch button (10) and computer reset key (11)；
In embedded computer display is 12 cun of TFT LCD, INTET atom double-core low-power consumption CPU, 2G low in calories
Deposit, 64G solid state hard disc, possess touch screen and show, external keyboard can be used to operate, windows XP or windows 7 can be carried
Operating system, meets this application and uses requirement；
Embedded computer is built in special shockproof waterproof cabinet and provides basic protection, and is designed as externally providing 2 RS-232
Serial communication interface, 2 USB2.0 interfaces, 1 RJ45 network interface, 1 220V power input interface, 1 turning error
Special calibration device special purpose interface, 1 12V direct voltage output interface, possess input and output voltage and monitor with electric current aobvious in real time
Show that function, the RJ45 network interface of every equipment configuration are reserved as to carry out data interaction with other Managing System so that it is
Possesses extended capability；
(7), calibrating control management software:
Calibrating controls software mechanism: calibrating controls management software and inputs to user management module, automatic Verification module, communication respectively
Control module, data processing module, record management, certificate management and task management.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610687774.5A CN106092142A (en) | 2016-08-19 | 2016-08-19 | A kind of inertial navigation calibration system metering and calibrating device |
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| CN201610687774.5A CN106092142A (en) | 2016-08-19 | 2016-08-19 | A kind of inertial navigation calibration system metering and calibrating device |
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| CN106092142A true CN106092142A (en) | 2016-11-09 |
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| CN201610687774.5A Pending CN106092142A (en) | 2016-08-19 | 2016-08-19 | A kind of inertial navigation calibration system metering and calibrating device |
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| CN108398141A (en) * | 2018-04-04 | 2018-08-14 | 中国人民解放军92493部队计量测试中心 | A kind of gyroscope north searching instrument field calibration device |
| CN109186632A (en) * | 2018-08-30 | 2019-01-11 | 衡阳市衡山科学城科技创新研究院有限公司 | A kind of test macro |
| CN109405851A (en) * | 2018-12-14 | 2019-03-01 | 浙江大学 | Test device and test method based on auto-collimation zero indicator and optical fibre gyro |
| CN111595271A (en) * | 2020-05-13 | 2020-08-28 | 湖北三江航天万峰科技发展有限公司 | Calibration method and device of angle measuring equipment |
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| CN108398141A (en) * | 2018-04-04 | 2018-08-14 | 中国人民解放军92493部队计量测试中心 | A kind of gyroscope north searching instrument field calibration device |
| CN108398141B (en) * | 2018-04-04 | 2021-07-09 | 中国人民解放军92493部队计量测试中心 | Gyro north finder field calibration device |
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| CN111595271B (en) * | 2020-05-13 | 2021-10-29 | 湖北三江航天万峰科技发展有限公司 | Calibration method and device of angle measuring equipment |
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