CN106403990B - A kind of light axis consistency caliberating device - Google Patents
A kind of light axis consistency caliberating device Download PDFInfo
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Abstract
本发明属于光电自准直非接触测角领域,提供一种快速、便捷的测量光路,完成被测瞄准棱镜出射光线光轴一致性的光轴一致性标定装置;一种光轴一致性标定装置,包括自准直仪A、双向电子水平仪、自准直仪B、测试台架及调整支架、双激光惯组、瞄准棱镜、箭体支架及综合测试电控箱,其中所述测试台架及调整支架为双层支架,上层支架上表面上设有铸铝壳体,所述铸铝壳体两端分别设有自准直仪A和自准直仪B,自准直仪A与自准直仪B之间设有一个双向电子水平仪;所述测试台架及调整支架的下层支架上设有一个综合测试电控箱;所述箭体支架上设有双激光惯组,所述双激光惯组为待测的两个激光惯组,每个激光惯组上分别设有一个瞄准棱镜。
The invention belongs to the field of photoelectric self-collimation and non-contact angle measurement, and provides a fast and convenient measurement optical path, and an optical axis consistency calibration device for completing the optical axis consistency of the outgoing light rays from a measured aiming prism; an optical axis consistency calibration device , including autocollimator A, two-way electronic level, autocollimator B, test bench and adjustment bracket, dual laser inertial group, aiming prism, arrow body bracket and comprehensive test electric control box, wherein the test bench and The adjustment bracket is a double-layer bracket, and the upper surface of the upper bracket is provided with a cast aluminum shell. The two ends of the cast aluminum shell are respectively provided with an autocollimator A and an autocollimator B. The autocollimator A and the autocollimator A two-way electronic level is arranged between the straight instruments B; a comprehensive test electric control box is arranged on the lower bracket of the test bench and the adjustment bracket; The inertial groups are two laser inertial groups to be tested, and each laser inertial group is respectively provided with a aiming prism.
Description
技术领域technical field
本发明属于光电自准直非接触测角领域,具体涉及一种光轴一致性标定装置。The invention belongs to the field of photoelectric self-collimation non-contact angle measurement, in particular to an optical axis consistency calibration device.
背景技术Background technique
目前运载火箭上的导航系统为提高导航精度通常选用多套捷联惯组进行冗余制导。火箭飞行前需要精确标定两个甚至更多个捷联惯组之间的初始安装方位偏差。捷联惯组上安装有代表其导航坐标系的瞄准棱镜,通过外部设备对瞄准棱镜出射光轴的方位一致性进行标定即可完成对惯组初始安装方位偏差的标定。这个标定值最终被装订在箭载计算机中参与导航解算。At present, the navigation system on the launch vehicle usually selects multiple sets of strapdown inertial groups for redundant guidance in order to improve the navigation accuracy. The initial installation orientation deviation between two or more strapdown inertial groups needs to be accurately calibrated before the rocket flies. A sighting prism representing its navigation coordinate system is installed on the strapdown inertial group, and the calibration of the initial installation orientation deviation of the inertial group can be completed by calibrating the azimuth consistency of the outgoing optical axis of the sighting prism through an external device. This calibration value is finally bound in the onboard computer to participate in the navigation solution.
若采用常规方法,瞄准棱镜出射光轴一致性的标定用至少两台经纬仪组网的方式间接的得到。具体方法是其中两台经纬仪各自与一个瞄准棱镜准直,然后再相互准直对瞄,得到两个转角θ1和360°-θ2,则两个瞄准棱镜初始安装的偏差Δ为180°-(θ1+360°-θ2)。If the conventional method is adopted, the calibration of the consistency of the outgoing optical axis of the aiming prism is obtained indirectly by means of a network of at least two theodolites. The specific method is that two theodolites are collimated with one aiming prism, and then aligned and aimed at each other to obtain two rotation angles θ 1 and 360°-θ 2 , then the initial installation deviation Δ of the two aiming prisms is 180°- (θ 1 +360°-θ 2 ).
采用这种方法测量时误差项很多,若测试现场通视条件不佳,甚至需要更多的经纬仪来组网测量。主要误差项包括多台经纬仪自身的仪器误差,经纬仪对瞄时的对瞄误差,每台仪器操作人员的调焦误差、对线误差等操作误差,经纬仪的数量越多,误差越大。这些误差将1:1直接带入到测量结果中,严重影响测量结果的准确性。There are many error terms when using this method to measure. If the visibility conditions of the test site are not good, even more theodolites are needed to form a network for measurement. The main error terms include the instrument errors of multiple theodolites themselves, the aiming errors of the theodolites when aiming, and the focusing errors and alignment errors of each instrument operator. The more the theodolites are, the greater the error. These errors bring 1:1 directly into the measurement results, which seriously affects the accuracy of the measurement results.
本标定装置不仅能够满足被测设备初始姿态的准确测量,而且能够完全克服上述方法存在的弊端,而且受测量现场环境影响很小。The calibration device can not only meet the accurate measurement of the initial attitude of the device under test, but also completely overcome the disadvantages of the above methods, and is less affected by the measurement site environment.
发明内容SUMMARY OF THE INVENTION
本发明的目的是,针对现有技术不足,提供一种快速、便捷的测量光路,完成被测瞄准棱镜出射光线光轴一致性的光轴一致性标定装置。The purpose of the present invention is to provide a fast and convenient measuring optical path, aiming at the deficiencies of the prior art, to complete the optical axis consistency calibration device for the optical axis consistency of the light emitted by the aiming prism to be measured.
本发明的技术方案是:The technical scheme of the present invention is:
一种光轴一致性标定装置,包括自准直仪A、双向电子水平仪、自准直仪B、测试台架及调整支架、双激光惯组、瞄准棱镜、箭体支架及综合测试电控箱,其中所述测试台架及调整支架为双层支架,上层支架上表面上设有铸铝壳体,所述铸铝壳体两端分别设有自准直仪A和自准直仪B,自准直仪A与自准直仪B之间设有一个双向电子水平仪;所述测试台架及调整支架的下层支架上设有一个综合测试电控箱;所述箭体支架上设有双激光惯组,所述双激光惯组为待测的两个激光惯组,每个激光惯组上分别设有一个瞄准棱镜。An optical axis consistency calibration device, including autocollimator A, bidirectional electronic level, autocollimator B, test bench and adjustment bracket, dual laser inertial group, aiming prism, arrow body bracket and comprehensive test electric control box , wherein the test bench and the adjustment bracket are double-layer brackets, the upper surface of the upper bracket is provided with a cast aluminum shell, and the two ends of the cast aluminum shell are respectively provided with an autocollimator A and an autocollimator B, A two-way electronic level is arranged between the autocollimator A and the autocollimator B; a comprehensive test electric control box is arranged on the lower bracket of the test bench and the adjustment bracket; A laser inertial group, the dual laser inertial groups are two laser inertial groups to be measured, and each laser inertial group is respectively provided with an aiming prism.
所述铸铝壳体经过实效处理和稳定处理。The cast aluminum shell is treated effectively and stabilized.
所述自准直仪A和自准直仪B的测量光轴平行。The measurement optical axes of the autocollimator A and the autocollimator B are parallel.
本发明的有益效果是:The beneficial effects of the present invention are:
1.本发明使用CCD光电自准直仪对瞄准棱镜的方位值进行标定,CCD光电自准直仪可以有效的避免多台经纬仪组网测量时存在的竖轴调平误差和人工调焦误差、对线准直误差等。1. The present invention uses a CCD photoelectric autocollimator to calibrate the azimuth value of the aiming prism, and the CCD photoelectric autocollimator can effectively avoid the vertical axis leveling error and manual focusing error existing when multiple theodolites are networked to measure, Alignment error, etc.
2.由于两台CCD光电自准直仪在控制系统的参与下对返回像同时采样,同时处理,避免了人工操作时由于准直时刻的不统一造成的误差。同时控制系统的自动计算也极大的提高了工作效率,降低了操作人员的劳动强度。2. Because the two CCD photoelectric autocollimators sample and process the returned images at the same time with the participation of the control system, the errors caused by the inconsistency of the collimation time during manual operation are avoided. At the same time, the automatic calculation of the control system also greatly improves the work efficiency and reduces the labor intensity of the operator.
附图说明Description of drawings
图1是一种光轴一致性标定装置结构示意图;1 is a schematic structural diagram of an optical axis consistency calibration device;
图2是一种光轴一致性标定装置结构标定过程光路示意图;Fig. 2 is a schematic diagram of the optical path of the optical axis consistency calibration device structure calibration process;
图3是一种光轴一致性标定装置结构原理图。FIG. 3 is a structural schematic diagram of an optical axis consistency calibration device.
其中,1.自准直仪A;2.双向电子水平仪;3.自准值仪B;4.测试台架及调整支架;5.双激光惯组;6.瞄准棱镜;7.箭体支架;8.综合测试电箱;Among them, 1. Autocollimator A; 2. Bidirectional electronic level; 3. Autocollimator B; 4. Test bench and adjustment bracket; 5. Dual laser inertial group; 6. Aiming prism; 7. Arrow body support 8. Comprehensive test electric box;
具体实施方式Detailed ways
下面结合附图与实施例对本发明提出的一种进行进一步的介绍:The one proposed by the present invention is further introduced below in conjunction with the accompanying drawings and embodiments:
一种光轴一致性标定装置,其特征在于:包括自准直仪A1、双向电子水平仪2、自准直仪B3、测试台架及调整支架4、双激光惯组5、瞄准棱镜6、箭体支架7及综合测试电控箱8,其中所述测试台架及调整支架4为双层支架,上层支架上表面上设有铸铝壳体,所述铸铝壳体两端分别设有自准直仪A1和自准直仪B3,自准直仪A1与自准直仪B3之间设有一个双向电子水平仪2;所述测试台架及调整支架4的下层支架上设有一个综合测试电控箱8;所述箭体支架7上设有双激光惯组5,所述双激光惯组5为待测的两个激光惯组,每个激光惯组上分别设有一个瞄准棱镜6。An optical axis consistency calibration device, characterized in that it includes an autocollimator A1, a two-way electronic level 2, an autocollimator B3, a test bench and an adjustment bracket 4, a dual laser inertial group 5, an aiming prism 6, an arrow The body bracket 7 and the comprehensive test electric control box 8, wherein the test bench and the adjustment bracket 4 are double-layer brackets, the upper surface of the upper bracket is provided with a cast aluminum shell, and the two ends of the cast aluminum shell are respectively provided with automatic A two-way electronic level 2 is arranged between the collimator A1 and the autocollimator B3, and a two-way electronic level 2 is arranged between the autocollimator A1 and the autocollimator B3; a comprehensive test is arranged on the lower bracket of the test bench and the adjustment bracket 4 The electric control box 8; the arrow body support 7 is provided with a dual laser inertial group 5, the double laser inertial group 5 is the two laser inertial groups to be measured, and each laser inertial group is respectively provided with an aiming prism 6 .
所述铸铝壳体经过实效处理和稳定处理。The cast aluminum shell is treated effectively and stabilized.
所述自准直仪A1和自准直仪B3的测量光轴平行。The measurement optical axes of the autocollimator A1 and the autocollimator B3 are parallel.
将两台CCD光电自准直仪固定在测试上,其中两台自准直仪分别对准主、从惯组的瞄准棱镜。两台自准直仪的零位光轴在出厂时已经调试成平行,根据两台自准直仪对准瞄准棱镜后读数的差值即可计算出两瞄准棱镜法线之间的方位差。Two CCD photoelectric autocollimators were fixed on the test, and the two autocollimators were aimed at the aiming prisms of the master and slave groups respectively. The zero-position optical axes of the two autocollimators have been adjusted to be parallel at the factory, and the azimuth difference between the normals of the two aiming prisms can be calculated according to the difference between the readings after the two autocollimators are aligned with the aiming prism.
为了避免棱镜棱线不水平误差对方位造成的影响,测量装置中两台CCD光电自准直仪应尽可能保持水平状态下测量,利用双向电子水平仪将标定装置精确调平及实时监测、实时补偿。In order to avoid the influence of the prism ridge line non-level error on the orientation, the two CCD photoelectric autocollimators in the measuring device should be measured in a horizontal state as much as possible, and the two-way electronic level should be used to accurately level the calibration device and monitor and compensate in real time. .
如附图1所示,CCD光电自准直仪用于测量瞄准棱镜出射法线的方位值,且具有自动对线,自动采集,自动读数和数据的自动化处理等优点,同时两个CCD光电自准直仪在控制系统的参与下,同时清零,同时采集,同时读数。有效地避免了人工操作经纬仪时存在的经纬仪本身误差和人工操作误差。As shown in Figure 1, the CCD photoelectric autocollimator is used to measure the azimuth value of the exit normal of the aiming prism, and has the advantages of automatic alignment, automatic acquisition, automatic reading and automatic data processing. With the participation of the control system, the collimator is cleared, collected, and read at the same time. The theodolite error and manual operation error existing in the manual operation of the theodolite are effectively avoided.
两个CCD自准直仪安装在铸铝的壳体上,铸铝壳体经过实效处理及稳定性处理,可以有效的保证高低温条件下基体变形最小,且不引起所安装的两个CCD自准直仪之间相互位置的变化。The two CCD autocollimators are installed on the cast aluminum shell. The cast aluminum shell has been treated effectively and stabilized, which can effectively ensure the minimum deformation of the substrate under high and low temperature conditions, and does not cause the two installed CCDs to self-align. Changes in the mutual position of the collimators.
两个CCD光电自准直仪安装在壳体后,通过精密研磨的方法将二者的测量光轴调节至平行。根据两台自准直仪对准瞄准棱镜后读数的差值即可标定出两瞄准棱镜出射光轴的一致性误差。After the two CCD photoelectric autocollimators are installed in the casing, the measurement optical axes of the two are adjusted to be parallel by means of precision grinding. According to the difference between the readings of the two autocollimators after aligning the aiming prisms, the consistency error of the outgoing optical axes of the two aiming prisms can be calibrated.
双向电子水平仪的安装基面与两个CCD光电自准直仪出射光轴所在的平面平行,可以实时显示标定装置的水平状态,用于标定过程的实时监测和实时补偿。The installation base of the two-way electronic level is parallel to the plane where the output optical axes of the two CCD photoelectric autocollimators are located.
如附图3所示,在参考双向电子水平仪读数,使光轴一致性标定装置以平瞄状态与待标定的棱镜准直。As shown in FIG. 3 , referring to the reading of the bidirectional electronic level, the optical axis consistency calibration device is aligned with the prism to be calibrated in a horizontal aiming state.
在对捷联惯组瞄准棱镜出射光轴一致性标定前,首先应标定出各惯组瞄准棱镜相对惯组坐标轴的安装误差,即α、β值;其中α为棱镜棱线与惯组坐标轴绕X轴方向的不平行误差,β为棱镜棱线与惯组坐标轴绕Y轴方向的不平行误差。其中主份惯组和备份惯组棱镜的α、β值分别为α主、β主,α备、β备,定义绕X轴旋转的角度为方位角。Before calibrating the consistency of the exit optical axis of the strapdown inertial group sighting prism, the installation error of each inertial group sighting prism relative to the inertial group coordinate axis should be calibrated first, that is, the values of α and β; where α is the prism ridge line and the inertial group coordinate The non-parallel error of the axis around the X-axis direction, β is the non-parallel error between the prism ridge and the inertial group coordinate axis around the Y-axis direction. The α and β values of the main and backup inertial prisms are α main , β main , α backup , β backup , respectively, and the angle of rotation around the X-axis is defined as the azimuth angle.
正式标定过程中,两台CCD光电自准直仪在与瞄准棱镜准直后,读数分别是A和B,则备份惯组棱镜相对于主份惯组棱镜的方位差In the formal calibration process, after the two CCD photoelectric autocollimators are collimated with the aiming prism, the readings are A and B respectively, then the azimuth difference between the backup inertial group prism and the main inertial group prism is
Δ=(B-α备)-(A-α主)。Δ=(B-α backup )-(A-α main ).
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CN112068322B (en) * | 2020-09-09 | 2022-06-17 | 西安应用光学研究所 | Multi-detector system optical axis parallelism correction method based on laser displacement sensor |
CN112146681B (en) * | 2020-09-12 | 2023-03-10 | 中国运载火箭技术研究院 | Inertial group prism installation error inspection method, device and computer storage medium |
CN113295189A (en) * | 2021-06-08 | 2021-08-24 | 江苏北方湖光光电有限公司 | Calibration device for consistency of strapdown inertial navigation shaft and autocollimator shaft in photoelectric boresight |
CN114815285B (en) * | 2022-04-29 | 2023-05-12 | 中船重工中南装备有限责任公司 | Optical axis consistency calibration method and calibration system |
CN115683157A (en) * | 2022-10-09 | 2023-02-03 | 中国人民解放军92941部队 | Optical axis parallelism error calibration method for multi-sensor photoelectric theodolite |
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