CN106153074B - Optical calibration system and method for inertial measurement combined dynamic navigation performance - Google Patents
Optical calibration system and method for inertial measurement combined dynamic navigation performance Download PDFInfo
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Abstract
The invention discloses an optical calibration system and method for inertial measurement combined dynamic navigation performance. The method comprises the steps of measuring displacement by using a single laser displacement sensor, measuring angles by using two laser displacement sensors, measuring the displacement and the angles of an inertial measurement unit in real time under the external environment that a vibration table provides dynamic navigation performance test, and comparing the measured angles and displacement information with output values of the inertial measurement unit, thereby realizing the purpose of calibrating the dynamic navigation performance of the inertial measurement unit. The optical calibration method for the inertial measurement combined dynamic navigation performance realizes non-contact measurement, measures the inertial measurement combined output in real time, has large bandwidth and high stability, and has wider application prospect.
Description
Technical Field
The invention relates to an optical calibration system and method for inertial measurement combined dynamic navigation performance, belonging to the field of optical sensing and measurement.
Technical Field
The inertial measurement unit is a core measurement unit of inertial navigation, and the performance of the inertial measurement unit determines the navigation precision and the attitude control precision of the carrier. Whether the inertial measurement unit can accurately reflect the actual motion information of the carrier in a dynamic environment is a key for evaluating the performance of the inertial measurement instrument. In order to accurately evaluate the dynamic navigation accuracy and the attitude measurement accuracy of the inertial measurement unit under the dynamic condition in the ground test stage, another independent evaluation method is required to be provided to evaluate the navigation and attitude measurement performance of the inertial measurement unit under the dynamic condition in a period of time. In order to ensure the real-time performance of evaluation, the independent measuring method must be capable of synchronizing with the measuring time of the inertial measurement unit, and providing pitch angle, yaw angle, rolling angle and three-dimensional displacement information of the inertial measurement unit relative to the initial position in real time, so as to realize real-time calibration of the dynamic performance of the inertial measurement unit.
Through investigation, no equipment which has high precision and reliable measurement and performs inertial measurement combined dynamic information measurement and calibration by using a non-contact optical method is found in China. The existing methods for calibrating the angle and the displacement are as follows: 1) The angle measurement is carried out by adopting the circular grating, and the displacement measurement is carried out by adopting the linear grating, so that the method has the advantages of high measurement accuracy, quick response and large dynamic range, and has the defects that the non-contact measurement cannot be realized, or the distance from a measured object is too far, and the movement condition of the measured object cannot be accurately reflected; 2) Light curtain measurement: the two orthogonal light curtains are utilized for measurement, the light curtain blocked by the object has a corresponding shape at the CCD end, the deformation of the object is measured by detecting the shape, and the angle and the displacement are detected in real time according to the deformation. The advantages are that: the two groups of light curtains can simultaneously measure various information and determine the posture of the sample between the two groups of projection objects. Disadvantages: the precision is low, the parallel light is difficult to guarantee, the measuring range is small, and the flexibility is not enough; 3) According to the method, three mutually orthogonal surfaces of a measured object are required to be respectively provided with a reflecting mirror so as to realize the specular reflection of laser, the PSD is used for receiving the reflected laser, the reflected laser enters different positions of the PSD due to torsion in the vibration process, and the torsion angle is measured in real time by detecting the position change of the reflected laser. The method can not realize non-contact measurement, the device is huge, the added mirror surface reflector needs to be fixed on the measured object, the measured object is damaged to a certain extent, and the reflector is possibly damaged under the dynamic condition. Since the PSD measurement position range and accuracy cannot meet the requirements at the same time, saturation may occur under dynamic conditions. Therefore, this scheme has a large limitation.
With the continuous expansion of the industrial measurement field and the continuous improvement of the measurement precision and the measurement speed, the conventional contact type measurement cannot meet the requirements. The laser displacement sensor based on the laser triangulation method can realize non-contact measurement, and the method has the advantages of non-contact measurement and no damage to the measured surface; the measurement resolution is high, and the precision is high; small volume and the like. Based on the advantages of the laser displacement sensor, the calibration of the laser displacement sensor and the inertial measurement combination is considered to be combined, the inertial measurement combination can be calibrated in a non-contact mode, and pitch angle, yaw angle, roll angle and three-dimensional displacement information of the inertial measurement combination relative to the initial position are synchronously measured.
Disclosure of Invention
The invention provides a system and a method for calibrating the performance of an inertial measurement unit under a dynamic condition based on a laser displacement sensor in a non-contact manner, which can provide pitch angle, yaw angle, rolling angle and three-dimensional displacement information of the inertial measurement unit relative to an initial position in real time.
The technical scheme of the invention is as follows:
the optical calibration system for the inertial measurement combined dynamic navigation performance comprises an optical calibration device, an information acquisition module, a DSP (digital signal processor), a communication interface and a PC (personal computer), wherein the information acquisition module comprises a first information acquisition unit, a second information acquisition unit and a synchronization module; the optical calibration device comprises a horizontal vibration isolation platform, a one-dimensional vibration table, an inertia measurement combination to be measured, a first angular displacement measurement assembly consisting of a first laser displacement sensor and a second laser displacement sensor, a second angular displacement measurement assembly consisting of a third laser displacement sensor and a fourth laser displacement sensor, and a third angular displacement measurement assembly consisting of a fifth laser displacement sensor and a sixth laser displacement sensor; the one-dimensional vibrating table is fixed on the surface of the horizontal vibration isolation platform, the three angle displacement measuring assemblies are fixed on the surface of the horizontal vibration isolation platform, the inertia measuring combination to be measured is fixed on the surface of the one-dimensional vibrating table, and the three angle displacement measuring assemblies are arranged around the inertia measuring combination to be measured and are used for measuring the three-dimensional displacement, pitch angle, roll angle and yaw angle of the inertia measuring combination to be measured; the one-dimensional vibration table can generate one-dimensional vibration in the Y direction, and the surface of the one-dimensional vibration table is parallel to an XY plane; the inertial measurement unit to be measured has three mutually orthogonal planes, wherein the first plane is parallel to the XZ plane, the second plane is parallel to the XY plane, and the third plane is parallel to the YZ plane.
Further, the first laser displacement sensor and the second laser displacement sensor are parallel to each other and enable two beams of laser to vertically enter a first plane of the inertia measurement combination to be measured; the third laser displacement sensor and the fourth laser displacement sensor are parallel to each other and enable two laser beams to vertically enter a second plane of the inertia measurement combination to be measured; the fifth laser displacement sensor and the sixth laser displacement sensor are parallel to each other and make the two laser beams vertically incident on a third plane of the inertia measurement combination to be measured.
The invention also discloses an optical calibration method of the optical calibration system for the inertial measurement unit dynamic navigation performance, which comprises the following steps:
the planes of the first laser displacement sensor and the second laser displacement sensor in the first angular displacement measuring assembly are parallel to the XY plane, and the distance between the first laser displacement sensor and the second laser displacement sensor is L 1 The two emitted lasers are parallel to each other and are perpendicular to the first plane of the object to be measured in the initial state, and the displacement measured by the first laser displacement sensor in the initial state is S 1 ' the displacement measured by the second laser displacement sensor is S 2 ' when the inertia measurement combination to be measured rotates around the Z axis
Angle->
The displacement S measured by the first laser displacement sensor 1 The displacement S measured by the second laser displacement sensor 2 And a distance L between the two laser beams 1 The relation of->
By measuring S 1 、S 2 And L is known to be 1 Measuring the movement angle of the inertial measurement unit to be measured around the Z axis, i.e. the yaw angle in real time>
At the same time, the displacement of the inertia measurement combination to be measured along the Y axis can be obtained
Third laser displacement sensor and fourth laser position in second angular displacement measuring assemblyThe plane of the motion sensor is parallel to the ZY plane and has a spacing L 2 The two emitted lasers are parallel to each other and are perpendicular to the second plane of the object to be measured in the initial state, and the displacement measured by the third laser displacement sensor in the initial state is S 3 ' the displacement measured by the fourth laser displacement sensor is S 4 When the inertia measurement combination to be measured rotates around the X-axis by an angle phi, the angle phi and the displacement S measured by the third laser displacement sensor 3 The displacement S measured by a fourth laser displacement sensor 4 And a distance L between the two laser beams 2 The relation of (2) is that
By measuring S 3 、S 4 And L is known to be 2 The motion angle, namely the roll angle phi, of the inertia measurement combination to be measured around the X axis is measured in real time, and meanwhile, the displacement of the inertia measurement combination to be measured along the Z axis can be obtained
The planes of the fifth laser displacement sensor and the sixth laser displacement sensor in the third angular displacement measuring component are parallel to the ZX plane, and the distance between the fifth laser displacement sensor and the sixth laser displacement sensor is L 3 The two emitted lasers are parallel to each other and are perpendicular to the third plane of the object to be measured in the initial state, and the displacement measured by the fifth laser displacement sensor in the initial state is S 5 ' the displacement measured by the sixth laser displacement sensor is S 6 ' when the inertia measurement combination to be measured rotates by an angle theta around the Y axis, the angle theta and the displacement S measured by the fifth laser displacement sensor 5 The displacement S measured by a sixth laser displacement sensor 6 And a distance L between the two laser beams 3 The relation of (2) is that
By measuring S 5 、S 6 And L is known to be 3 The motion angle, namely the yaw angle theta, of the inertia measurement combination to be measured around the Z axis is measured in real time, and meanwhile, the displacement of the inertia measurement combination to be measured along the X axis can be obtained
The first information acquisition unit acquires displacement data of three angle displacement measurement components, the second information acquisition unit acquires data of an inertial measurement unit to be measured, the synchronous module simultaneously transmits synchronous acquisition instructions to the first information acquisition unit and the second information acquisition unit, real-time synchronous acquisition of 6 laser displacement sensor signals and inertial measurement unit signals is realized, the results are transmitted to the PC, and the PC obtains three-dimensional displacement information L X ，L Y ，L Z And three-dimensional angle information
Theta, phi, when the one-dimensional vibrating table vibrates along the Y axis to test the dynamic conductivity of the inertia measurement combination, the information acquisition module synchronously acquires three-dimensional displacement information Ix, iy, iz and three-dimensional angle information ∈outputted by the inertia measurement combination>
I θ ，I φ Comparing the two results to obtain the measurement error of the three-dimensional angle and the three-dimensional displacement of the inertia measurement combination under the dynamic condition, wherein the measurement error is as follows:
the calibration of the dynamic navigation performance of the inertial measurement unit can be realized, namely, the performance of the inertial measurement unit is evaluated.
The invention has the beneficial effects that the non-contact optical calibration of the dynamic navigation performance of the inertial measurement unit is realized, the method is based on the laser displacement sensor of the optical diffuse reflection triangle imaging, the two laser displacement sensors are utilized to measure the one-dimensional rotation angle of the inertial measurement unit, the six laser displacement sensors are utilized to measure the three-dimensional angle and the displacement, the corresponding mechanical adjustment and alignment device and the information acquisition and processing system are assisted, and the dynamic performance of the inertial measurement unit can be calibrated in real time. The non-contact measurement has the advantages of no damage to the inertial measurement unit to be measured, high measurement precision and real-time synchronization, and provides an effective calibration method for the calibration of the dynamic navigation performance of the inertial measurement unit.
Drawings
FIG. 1 is a diagram of an optical calibration system for inertial measurement unit dynamic navigation performance;
FIG. 2 is an information processing block diagram of an optical calibration system for inertial measurement unit dynamic navigation performance.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, an optical calibration system for dynamic navigation performance of an inertial measurement unit comprises an optical calibration device, an information acquisition module, a DSP, a communication interface and a PC, wherein the information acquisition module comprises a first information acquisition unit, a second information acquisition unit and a synchronization module, the first information acquisition unit acquires displacement data of three angle displacement measurement components, the second information acquisition unit acquires data of an inertial measurement unit (3) to be measured, the synchronization module simultaneously transmits a synchronous acquisition instruction to the first information acquisition module and the second information acquisition module, the information acquisition module is connected with the DSP, and the DSP is connected with the PC through the communication interface; the optical calibration device comprises a horizontal vibration isolation platform 1, a one-dimensional vibration table 2, an inertia measurement combination 3 to be measured, a first angular displacement measurement assembly 13 formed by a first laser displacement sensor 4 and a second laser displacement sensor 5, a second angular displacement measurement assembly 14 formed by a third laser displacement sensor 6 and a fourth laser displacement sensor 7, and a third angular displacement measurement assembly 15 formed by a fifth laser displacement sensor 8 and a sixth laser displacement sensor 9; the one-dimensional vibration table 2 is fixed on the surface of the horizontal vibration isolation platform 1, three angle displacement measurement assemblies are fixed on the surface of the horizontal vibration isolation platform 1, the inertia measurement combination 3 to be measured is fixed on the surface of the one-dimensional vibration table 2, and the three angle displacement measurement assemblies are arranged around the inertia measurement combination 3 to be measured and are used for measuring three-dimensional displacement, pitch angle, roll angle and yaw angle of the inertia measurement combination 3 to be measured; the one-dimensional vibration table 2 can generate one-dimensional vibration in the Y direction, and the surface of the one-dimensional vibration table is parallel to an XY plane; the inertial measurement unit 3 to be measured has three mutually orthogonal planes, wherein a first plane 10 is parallel to the XZ plane, a second plane 11 is parallel to the XY plane, and a third plane 12 is parallel to the YZ plane.
The first laser displacement sensor 4 and the second laser displacement sensor 5 are parallel to each other and make two laser beams vertically incident on the first plane 10 of the inertia measurement combination 3 to be measured; the third laser displacement sensor 6 and the fourth laser displacement sensor 7 are parallel to each other and make two laser beams vertically incident on the second plane 11 of the inertial measurement unit 3 to be measured; the fifth laser displacement sensor 8 and the sixth laser displacement sensor 9 are parallel to each other and make the two laser beams vertically incident on the third plane 12 of the inertial measurement unit 3 to be measured.
The optical calibration method of the optical calibration system for the inertial measurement unit dynamic navigation performance comprises the following specific steps:
the first angular displacement measuring component 13 has a first laser displacement sensor 4 and a second laser displacement sensor 5 which are arranged on a plane parallel to the XY plane and with a distance L 1 The two emitted lasers are parallel to each other and are perpendicular to the first plane 10 of the object to be measured in an initial state, and the displacement measured by the first laser displacement sensor 4 in the initial state is S 1 ' the displacement measured by the second laser displacement sensor 5 is S 2 ' when the inertia measurement combination 3 to be measured rotates around the Z axis
Angle->
The displacement S measured by the first laser displacement sensor 4 1 Second laser displacement sensorThe displacement S measured by the device 5 2 And a distance L between the two laser beams 1 The relation of->
By measuring S 1 、S 2 And L is known to be 1 Measuring in real time the angle of movement of the inertial measurement unit 3 to be measured about the Z axis, i.e. the yaw angle +.>
At the same time, the displacement of the inertia measurement combination 3 to be measured along the Y axis can be obtained
The third laser displacement sensor 6 and the fourth laser displacement sensor 7 of the second angular displacement measuring assembly 14 are positioned on planes parallel to the ZY plane and have a spacing L 2 The two emitted lasers are parallel to each other and are perpendicular to the second plane 11 of the object to be measured in the initial state, and the displacement measured by the third laser displacement sensor 6 in the initial state is S 3 ' the displacement measured by the fourth laser displacement sensor 7 is S 4 When the inertia measurement combination 3 to be measured rotates around the X axis by an angle phi, the angle phi and the displacement S measured by the third laser displacement sensor 6 3 The displacement S measured by the fourth laser displacement sensor 7 4 And a distance L between the two laser beams 2 The relation of (2) is that
By measuring S 3 、S 4 And L is known to be 2 The motion angle, namely the roll angle phi, of the inertia measurement combination 3 to be measured around the X axis is measured in real time, and meanwhile, the displacement +_ of the inertia measurement combination 3 to be measured along the Z axis can be obtained>
The planes of the fifth 8 and sixth 9 laser displacement sensors in the third angular displacement measurement assembly 15 are parallel to the ZX plane, whichWith a spacing of L 3 The two emitted lasers are parallel to each other and are perpendicular to the third plane 12 of the object to be measured in the initial state, and the displacement obtained by the measurement 8 of the fifth laser displacement sensor in the initial state is S 5 ' the displacement measured by the sixth laser displacement sensor 9 is S 6 When the inertia measurement combination 3 to be measured rotates by an angle theta around the Y axis, the angle theta and the displacement S measured by the fifth laser displacement sensor 8 5 The displacement S measured by the sixth laser displacement sensor 9 6 And a distance L between the two laser beams 3 The relation of (2) is that
By measuring S 5 、S 6 And L is known to be 3 The movement angle, namely the yaw angle theta, of the inertia measurement combination 3 to be measured around the Z axis is measured in real time, and meanwhile, the displacement of the inertia measurement combination 3 to be measured along the X axis can be obtained
The first information acquisition unit acquires displacement data of three angle displacement measurement components, the second information acquisition unit acquires data of an inertial measurement unit (3) to be measured, the synchronous module simultaneously transmits synchronous acquisition instructions to the first information acquisition unit and the second information acquisition unit, real-time synchronous acquisition of 6 laser displacement sensor signals and inertial measurement unit signals is realized, the results are transmitted to a PC (personal computer) and the PC obtains three-dimensional displacement information L X ，L Y ，L Z And three-dimensional angle information
Theta, phi, when the one-dimensional vibrating table vibrates along the Y axis to test the dynamic conductivity of the inertia measurement combination, the information acquisition module synchronously acquires three-dimensional displacement information Ix, iy, iz and three-dimensional angle information ∈outputted by the inertia measurement combination>
I θ ，I φ Comparing the two results to obtain inertial measurementThe measurement errors of the three-dimensional angle and the three-dimensional displacement of the quantity combination under the dynamic condition are as follows:
the calibration of the dynamic navigation performance of the inertial measurement unit can be realized, namely, the performance of the inertial measurement unit is evaluated.
Claims (3)
1. The optical calibration system is characterized by comprising an optical calibration device, an information acquisition module, a DSP (digital signal processor), a communication interface and a PC (personal computer), wherein the information acquisition module comprises a first information acquisition unit, a second information acquisition unit and a synchronization module; the optical calibration device comprises a horizontal vibration isolation platform (1), a one-dimensional vibration table (2), an inertia measurement combination (3) to be measured, a first angular displacement measurement assembly (13) consisting of a first laser displacement sensor (4) and a second laser displacement sensor (5), a second angular displacement measurement assembly (14) consisting of a third laser displacement sensor (6) and a fourth laser displacement sensor (7), and a third angular displacement measurement assembly (15) consisting of a fifth laser displacement sensor (8) and a sixth laser displacement sensor (9); the one-dimensional vibration table (2) is fixed on the surface of the horizontal vibration isolation platform (1), three angle displacement measurement assemblies are fixed on the surface of the horizontal vibration isolation platform (1), the inertia measurement combination (3) to be measured is fixed on the surface of the one-dimensional vibration table (2), and the three angle displacement measurement assemblies are arranged around the inertia measurement combination (3) to be measured and are used for measuring three-dimensional displacement, pitch angle, roll angle and yaw angle of the inertia measurement combination (3) to be measured; the one-dimensional vibration table (2) can generate one-dimensional vibration in the Y direction, and the surface of the one-dimensional vibration table is parallel to an XY plane; the inertial measurement unit (3) to be measured has three mutually orthogonal planes, wherein a first plane (10) is parallel to an XZ plane, a second plane (11) is parallel to an XY plane, and a third plane (12) is parallel to a YZ plane.
2. An optical calibration system according to claim 1, characterized in that the first laser displacement sensor (4) and the second laser displacement sensor (5) are parallel to each other and such that the two laser beams are perpendicularly incident on a first plane (10) of the inertial measurement unit (3) to be measured; the third laser displacement sensor (6) and the fourth laser displacement sensor (7) are parallel to each other and make two laser beams vertically incident on a second plane (11) of the inertia measurement combination (3) to be measured; the fifth laser displacement sensor (8) and the sixth laser displacement sensor (9) are parallel to each other and make the two laser beams vertically incident on a third plane (12) of the inertia measurement combination (3) to be measured.
3. An optical calibration method of an optical calibration system according to claim 1, characterized in that the first (4) and second (5) laser displacement sensors of the first angular displacement measuring assembly (13) are located in a plane parallel to the XY plane with a pitch L 1 The two emitted lasers are parallel to each other and are perpendicular to a first plane (10) of the object to be measured in an initial state, and in the initial state, the displacement obtained by the measurement (4) of the first laser displacement sensor is S 1 ' the displacement measured by the second laser displacement sensor (5) is S 2 ' when the inertia measurement combination (3) to be measured rotates around the Z axis
Angle->
The displacement S measured by the first laser displacement sensor (4) 1 The displacement S measured by the second laser displacement sensor (5) 2 And a distance L between the two laser beams 1 The relation of->
By measuring S 1 、S 2 And L is known to be 1 Measuring in real time the angle of movement of the inertial measurement unit (3) to be measured about the Z axis, i.e. the yaw angle +.>
At the same time, the displacement of the inertia measurement combination (3) to be measured along the Y axis can be obtained
The planes of the third laser displacement sensor (6) and the fourth laser displacement sensor (7) in the second angular displacement measuring component (14) are parallel to the ZY plane, and the distance between the third laser displacement sensor and the fourth laser displacement sensor is L 2 The two emitted lasers are parallel to each other and are perpendicular to a second plane (11) of the object to be measured in an initial state, and the displacement measured by the third laser displacement sensor (6) in the initial state is S 3 ' the displacement measured by the fourth laser displacement sensor (7) is S 4 When the inertia measurement combination (3) to be measured rotates around the X axis by an angle phi, the angle phi and the displacement S measured by the third laser displacement sensor (6) are measured 3 The displacement S measured by a fourth laser displacement sensor (7) 4 And a distance L between the two laser beams 2 The relation of (2) is that
By measuring S 3 、S 4 And L is known to be 2 The motion angle, namely the roll angle phi, of the inertia measurement combination (3) to be measured around the X axis is measured in real time, and meanwhile, the displacement +_ of the inertia measurement combination (3) to be measured along the Z axis can be obtained>
The planes of the fifth laser displacement sensor (8) and the sixth laser displacement sensor (9) in the third angular displacement measuring component (15) are parallel to the ZX plane, and the distance between the planes is L 3 The two laser beams are parallel to each other and are perpendicular to the third plane (12) of the object under test in the initial state, and the fifth laser beam in the initial stateThe displacement measured by the optical displacement sensor (8) is S 5 ' the displacement measured by the sixth laser displacement sensor (9) is S 6 When the inertia measurement combination (3) to be measured rotates by an angle theta around the Y axis, the angle theta and the displacement S measured by the fifth laser displacement sensor (8) are measured 5 The displacement S measured by a sixth laser displacement sensor (9) 6 And a distance L between the two laser beams 3 The relation of (2) is that
By measuring S 5 、S 6 And L is known to be 3 The motion angle, namely the yaw angle theta, of the inertia measurement combination (3) to be measured around the Z axis is measured in real time, and meanwhile, the displacement +_ of the inertia measurement combination (3) to be measured along the X axis can be obtained>
The first information acquisition unit acquires displacement data of three angle displacement measurement components, the second information acquisition unit acquires data of an inertial measurement unit (3) to be measured, the synchronous module simultaneously transmits synchronous acquisition instructions to the first information acquisition unit and the second information acquisition unit, real-time synchronous acquisition of 6 laser displacement sensor signals and inertial measurement unit signals is realized, the results are transmitted to a PC (personal computer) and the PC obtains three-dimensional displacement information L X ，L Y ，L Z And three-dimensional angle information->
Theta, phi, when the one-dimensional vibrating table vibrates along the Y axis to test the dynamic conductivity of the inertia measurement combination, the information acquisition module synchronously acquires three-dimensional displacement information Ix, iy, iz and three-dimensional angle information ∈outputted by the inertia measurement combination>
I θ ，I φ Comparing the two results to obtain the measurement error of the three-dimensional angle and the three-dimensional displacement of the inertia measurement combination under the dynamic condition, wherein the measurement error is as follows:
the calibration of the dynamic navigation performance of the inertial measurement unit can be realized, namely, the performance of the inertial measurement unit is evaluated.
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| CN109115095B (en) * | 2018-08-03 | 2020-08-04 | 成都天佑创软科技有限公司 | Structural parameter optimization method of non-contact R-test measuring instrument |
| CN110031803B (en) * | 2019-04-04 | 2020-11-27 | 中国科学院数学与系统科学研究院 | Fusion positioning method of double infrared sensors with random measurement noise |
| CN111811487B (en) * | 2020-07-06 | 2023-06-09 | 浙江大学 | Single-axis double-beam emitting device and three-axis double-beam parallel light adjusting system and method |
| CN111811496B (en) * | 2020-07-06 | 2022-04-08 | 浙江大学 | Oblique non-contact three-dimensional linear velocity and double-shaft dynamic angle measuring system and method |
| CN113375907A (en) * | 2021-07-16 | 2021-09-10 | 中国科学院长春光学精密机械与物理研究所 | Performance test system of high-precision six-degree-of-freedom optical assembly |
| CN115631248B (en) * | 2022-11-02 | 2024-01-23 | 江苏泽景汽车电子股份有限公司 | Virtual image parameter acquisition method, device, electronic equipment and storage medium |
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