CN106153075A - Based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method - Google Patents

Abstract

The present invention propose based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method, the measurement system that the collimated light path being made up of LED emission light source 1, collimation graticle 2, line array CCD receiving device 3, Amici prism 4, collimator objective 5, plane mirror 6 and ccd signal processing module form, collimation heliogram is converted to the signal of telecommunication, obtains the misalignment of pitching or horizontal direction after signal processing.Owing to the sampling line frequency of line array CCD is high, pixel face length many, photosensitive, replaces area array CCD with it, autocollimatic measurement frequency can be improved, expand wide-measuring range, ensure high measurement accuracy simultaneously.

Description

Based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method

Technical field

The invention belongs to inertial navigation and aim at benchmark prism detection technique field, be specifically related to a kind of inertial navigation benchmark prism misalignment certainly Adapt to measuring method.

Background technology

Inertial navigation benchmark prism exists and horizontally and vertically assembles two ways, and the change of its misalignment is also different, according to based on The self-collimation measurement of area array CCD, because precision is high, it is reliable and stable to measure, technology maturation, is widely used.But because of by sample frame Frequency and the restriction of photosurface size, it measures frequency can not be the highest, and in the case of ensureing precision, measurement scope is difficult to scale up.

Owing to the sampling line frequency of line array CCD is high, pixel face length many, photosensitive, replaces area array CCD with it, autocollimatic can be improved Straight measurement frequency, expands wide-measuring range, ensures high measurement accuracy simultaneously.

Summary of the invention

It is an object of the invention to provide a kind of composition be simple and convenient to operate, hardware compatibility, the inertial navigation benchmark that is easily achieved Prism misalignment self-adapting measuring method.

The technical solution realizing the present invention is as follows:

Based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method, by LED emission light source, collimation graduation The collimated light path of plate, line array CCD receiving device, Amici prism, collimator objective, plane mirror composition and ccd signal processing module group The measurement system become, is converted to the signal of telecommunication by collimation heliogram, obtains the misalignment of pitching or horizontal direction after signal processing Angle, measuring method is as follows:

(1), preferably by " N " type collimating graticle, " N " type collimation graticle is oblique by two parallel perpendicular grooves and one Groove forms, line array CCD horizontal positioned, opens LED emission light source, and " N " type collimation graticle images in line by collimated light path Battle array CCD, left " N " type picture is initial position, and right " N " type picture is a certain position after plane mirror change.Oblique line and the folder of two branch lines Angle is set to α, and " N " the type picture on the left side is collimation picture under collimating status, and " N " the type picture on the right is collimation picture under misalignment state.

(2), line array CCD obtain the left side " N " type imaging point A, B, C, " N " type imaging point D, E, the F on the right, compare A, B, C and D, correspondence position change between E, F, obtain collimation as variable quantity (Δ X) in the horizontal direction；By AB, BC and DE, EF Between corresponding relation change, obtain collimation as at the variable quantity (Δ Y) of pitch orientation；Then burnt according to collimated light path imaging Away from, process the misalignment changing value obtaining correspondence.

Based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method, its ccd signal processing method is as follows:

If line array CCD pixel size is c, the pixel coordinate of A, B, C, D, E, the F 6 obtained on CCD in measurement is respectively NA、NB、NC、ND、NE、NF.The Two-dimensional Position that " N " type graticle produces when moving to right D, E, F position, position from left position A, B, location of C Moving Δ X and Δ Y is:

$\mathrm{\Δ}X=\frac{c}{2}(N_D-N_A+N_F-N_C)---\left(1\right)$

$\begin{array}{c}\mathrm{\Δ}Y=\frac{c\cot \mathrm{\α}}{2}\[(N_B-N_A)-(N_E-N_D)+(N_F-N_E)-(N_C-N_B)\]\\ =\frac{c\cot \mathrm{\α}}{2}(2N_B-N_A-N_C+N_D+N_F-2N_E)\end{array}---\left(2\right)$

The variable quantity of X-direction is unrelated with division line angle α, and the variable quantity of Y-direction is relevant with α, and α is the biggest, the essence of Y-direction Spend the highest.And during α=60 °, the certainty of measurement of both direction is equal.

If a height of s of N-type graticle vertical line, a length of L of line array CCD, the wide-measuring range on two directions is:

${\mathrm{\ΔX}}_{max}=\frac{L}{2}-\frac{s}{2}tan\mathrm{\α}---\left(3\right)$

${\mathrm{\ΔY}}_{max}=\frac{s}{2}---\left(4\right)$

Substitute into collimated light path imaging focal length, process and obtain corresponding misalignment changing value:

${\mathrm{\α}}_X=arctg\frac{\mathrm{\Δ}X}{2f^{\′}}---\left(5\right)$

${\mathrm{\α}}_Y=arctg\frac{\mathrm{\Δ}Y}{2f^{\′}}---\left(6\right)$

Wherein: f is collimated light path imaging focal length

Based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method, its collimation graticle is not limited only to " N " Type, it is also possible to yes " V ", " W " or " M " type.

Compared with prior art, its remarkable advantage is the present invention: the sampling line frequency of line array CCD is high, pixel is many, photosurface Long, replace area array CCD with it, autocollimatic measurement frequency can be improved, expand wide-measuring range, ensure high measurement accuracy simultaneously.

Accompanying drawing explanation

Fig. 1 is based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method collimated light path schematic diagram

Fig. 2 " N " type graticle measuring principle figure

Detailed description of the invention

In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right The present invention is further described.Should be appreciated that specific embodiment described herein, and need not only in order to explain the present invention In limiting the present invention.

Shown in Fig. 1, based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method by LED emission light source 1, Collimated light path and CCD that collimation graticle 2, line array CCD receiving device 3, Amici prism 4, collimator objective 5, plane mirror 6 are constituted believe The measurement system of number processing module composition, is converted to the signal of telecommunication by collimation heliogram, obtains pitching or water after signal processing Square to misalignment.

Shown in Fig. 2, use " N " type graticle, the change of right position on line array CCD of N-type graticle picture, reflect flat The swing in horizontal plane of the face mirror, N-type graticle oblique line goes out plane mirror luffing angle relative to the reacting condition of position, both sides Change, measuring method is as follows:

(1), " N " type collimation graticle be made up of two parallel perpendicular grooves and an oblique groove, line array CCD horizontal positioned, Opening LED emission light source, " N " type collimation graticle images in line array CCD by collimated light path, and left " N " type picture is initial position, Right " N " type picture is a certain position after plane mirror change.The angle of oblique line and two branch lines is set to α, and " N " the type picture on the left side is collimation Collimating picture under state, " N " the type picture on the right is collimation picture under misalignment state.

(2), line array CCD obtain the left side " N " type imaging point A, B, C, " N " type imaging point D, E, the F on the right, compare A, B, C and D, correspondence position change between E, F, obtain collimation as variable quantity (Δ X) in the horizontal direction；By AB, BC and DE, EF Between corresponding relation change, obtain collimation as at the variable quantity (Δ Y) of pitch orientation；Then burnt according to collimated light path imaging Away from, process the misalignment changing value obtaining correspondence.

Based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method, its ccd signal processing method is as follows:

If line array CCD pixel size is c, the pixel coordinate of A, B, C, D, E, the F 6 obtained on CCD in measurement is respectively NA、NB、NC、ND、NE、NF.The displacement that " N " type graticle produces when moving to right D, E, F position, position from left position A, B, location of C X or Δ Y is:

$\mathrm{\Δ}X=\frac{c}{2}(N_D-N_A+N_F-N_C)---\left(1\right)$

$\begin{array}{c}\mathrm{\Δ}Y=\frac{c\cot \mathrm{\α}}{2}\[(N_B-N_A)-(N_E-N_D)+(N_F-N_E)-(N_C-N_B)\]\\ =\frac{c\cot \mathrm{\α}}{2}(2N_B-N_A-N_C+N_D+N_F-2N_E)\end{array}---\left(2\right)$

The variable quantity of X-direction is unrelated with division line angle α, and the variable quantity of Y-direction is relevant with α, and α is the biggest, the essence of Y-direction Spend the highest.And during α=60 °, the certainty of measurement of both direction is equal.

If a height of s of N-type graticle vertical line, a length of L of line array CCD, the wide-measuring range on two directions is:

${\mathrm{\ΔX}}_{max}=\frac{L}{2}-\frac{s}{2}tan\mathrm{\α}---\left(3\right)$

${\mathrm{\ΔY}}_{max}=\frac{s}{2}---\left(4\right)$

Substitute into collimated light path imaging focal length, process and obtain corresponding misalignment changing value:

${\mathrm{\α}}_X=arctg\frac{\mathrm{\Δ}X}{2f^{\′}}---\left(5\right)$

${\mathrm{\α}}_Y=arctg\frac{\mathrm{\Δ}Y}{2f^{\′}}---\left(6\right)$

Wherein: f is collimated light path imaging focal length

The above is one embodiment of the present of invention, but the present invention should not be limited to this embodiment and accompanying drawing institute Disclosure.So every without departing from the equivalence completed under spirit disclosed in this invention or amendment, both fall within the present invention and protect The scope protected.

Claims (3)

1. based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method, by LED emission light source, collimation graticle, The collimated light path of line array CCD receiving device, Amici prism, collimator objective, plane mirror composition and ccd signal processing module form Measurement system, is converted to the signal of telecommunication by collimation heliogram, obtains inertial navigation benchmark prism pitching or level side after signal processing To misalignment, measuring method is as follows:

(1), preferably by " N " type collimating graticle, " N " type collimation graticle is by two parallel perpendicular grooves and an oblique groove Composition, Linear Array Realtime CCD horizontal positioned, open LED emission light source, " N " type collimation graticle images in linear array by collimated light path Formula CCD, left " N " type picture is initial position, and right " N " type picture is a certain position after plane mirror change.Oblique line and the folder of two branch lines Angle is set to α, and " N " the type picture on the left side is collimation picture under collimating status, and " N " the type picture on the right is collimation picture under misalignment state.

(2), inertial navigation benchmark prism levels state time, Linear Array Realtime CCD obtain the left side " N " type imaging point A, B, C, " N " on the right Type imaging point D, E, F, compare A, B, C and D, correspondence position change between E, F, obtain collimation as variable quantity in the horizontal direction (ΔX)；During the vertical state of inertial navigation benchmark prism, changed by the corresponding relation between AB, BC and DE, EF, obtain collimation picture and exist The variable quantity (Δ Y) of pitch orientation；Then according to collimated light path imaging focal length, the inertial navigation benchmark prism levels obtaining correspondence is processed Or vertical state misalignment changing value.

The most according to claim 1 based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method, its CCD Signal processing method is as follows:

If line array CCD pixel size is c, the pixel coordinate of A, B, C, D, E, F 6 obtained on CCD in measurement be respectively NA, NB、NC、ND、NE、NF.Displacement X that " N " type graticle produces when moving to right D, E, F position, position from left position A, B, location of C and Δ Y is:

The variable quantity of X-direction is unrelated with division line angle α, and the variable quantity of Y-direction is relevant with α, and α is the biggest, and the precision of Y-direction is more High.And during α=60 °, the certainty of measurement of both direction is equal.

If a height of s of N-type graticle vertical line, a length of L of line array CCD, the wide-measuring range on two directions is:

Substitute into collimated light path imaging focal length, process and obtain corresponding misalignment changing value:

Wherein: f is collimated light path imaging focal length.

The most according to claim 1 based on Linear Array Realtime CCD inertial navigation benchmark prism misalignment self-adapting measuring method, its collimation Graticle is not limited only to " N " type, it is also possible to yes " V ", " W " or " M " type.