CN106403993B - A kind of alignment prism installation error measurement method - Google Patents
A kind of alignment prism installation error measurement method Download PDFInfo
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- CN106403993B CN106403993B CN201510463211.3A CN201510463211A CN106403993B CN 106403993 B CN106403993 B CN 106403993B CN 201510463211 A CN201510463211 A CN 201510463211A CN 106403993 B CN106403993 B CN 106403993B
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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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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention belongs to error measurement technology fields, and in particular to a kind of installation error measurement of the alignment prism based on navigation system coordinate system, the alignment prism installation error measurement method of course precision when guaranteeing that aircraft aims at orientation and inertial guidance；It is established by the spatial attitude of the calibration facility of its inertia type instrument, such as turntable, the space reference of turntable can indicate that the normal of the plane formed with 3 mounting plates represents X-axis, the normal of the plane formed with the bus of 2 shop bolts represents Y-axis with the datum level being mounted on inside casing；The installation error of the alignment prism of navigation system coordinate system can be equivalent at this time are as follows: α: projection and the parallelism error of positioning basal plane of the alignment prism in installation base surface；β: alignment prism is in the projection of positioning basal plane and the parallelism error of installation base surface.
Description
Technical field
The invention belongs to error measurement technology fields, and in particular to a kind of alignment prism installation error measurement method.
Background technique
Inertial navigation system is the principle navigation system of the large-scale unmanned vehicle such as carrier rocket, is mounted on used group
Alignment prism is collimated object when it aim at orientation, and equivalent reflective section has relative to the coordinate basis of navigation system
Stringent status requirement.
The installation error of alignment prism includes following two, as shown in Figure 1:
α: the depth of parallelism or the error of perpendicularity of the alignment prism relative positioning benchmark around X-axis；
β: parallelism error of the alignment prism with respect to reference for installation about the z axis.
This two errors aim at the precision of orientation by directly affecting, therefore it is very necessary for carrying out precise measurement to it.
But previous alignment prism test is surveyed on the basis of machinery/optical reference plane on inertial navigation system ontology
Examination, and inertial navigation system is when carrying out the calibration of inertia type instrument installation error, is with its calibration facility (such as three-axle table, frame
Frame hexahedron etc.) establish coordinate system on the basis of.According to the service condition of many years show the datum level on used group ontology be difficult with
The datum level for representing calibration facility coordinate system on calibration facility is completely coincident, a generally existing differential seat angle, as shown in Figure 1.This
Sample has resulted in gun sight installation error and inertia type instrument installation error when being demarcated, and is surveyed according to different benchmark
Examination, the installation error of gun sight is without in reflection to navigation system coordinate system completely.
Summary of the invention
The object of the present invention is in view of the shortcomings of the prior art, provide a kind of alignment prism based on navigation system coordinate system
Installation error measurement, surveyed with guaranteeing that aircraft aims at the alignment prism installation error of orientation and course precision when inertial guidance
Amount method.
The technical scheme is that
A kind of alignment prism installation error measurement method, comprising the following steps:
Step 1 establishes the aerospace systems coordinate system of used group；
It is established by the spatial attitude of the calibration facility of its inertia type instrument, such as turntable, the space reference of turntable can use installation
Datum level on inside casing indicates that the normal of the plane formed with 3 mounting plates represents X-axis, with the bus shape of 2 shop bolts
At the normal of plane represent Y-axis；
The installation error of the alignment prism of navigation system coordinate system can be equivalent at this time are as follows:
α: projection and the parallelism error of positioning basal plane of the alignment prism in installation base surface；
β: alignment prism is in the projection of positioning basal plane and the parallelism error of installation base surface.
Step 2 calculates influence amount △ A of the installation error to aiming azimuth of alignment prism are as follows:
△ A=alpha+beta tan θ (1)
△ A: influence amount of the installation error of alignment prism to aiming azimuth；
α: projection and the parallelism error of positioning basal plane of the alignment prism in installation base surface；
β: alignment prism is in the projection of positioning basal plane and the parallelism error of installation base surface；
θ: sight device pitch angle；
Step 3, the formula according to step 2, by azimuthal influence amount can inverse go out alignment prism installation miss
Difference, its step are as follows:
Angle-measuring equipment is with different pitching angle thetas1、θ2It is directed at alignment prism and carries out azimuthal measurement, angle-measuring equipment utilizes navigation system
Datum level etc. after the visualization conversion of coordinate system can carry out orientation reduction, thus measure at this time installation error to aiming side
The influence amount △ A of parallactic angle1、△A2；
△A1=alpha+beta tan θ1 (2)
△A2=alpha+beta tan θ2 (3)
It can thus be appreciated that:
△A1-△A2=β (tan θ1-tanθ2) (4)
α, β are calculated, the alignment prism installation error measurement based on navigation system coordinate system is completed.
The beneficial effects of the present invention are:
1. the present invention solves the installation error measurement of the alignment prism based on navigation system coordinate system, to guarantee that aircraft is taken aim at
Certainly to course precision when inertial guidance；
2. test result is examined in flight test, good application effect is achieved；
3. the largely alignment prism installation error test based on navigation system coordinate system has been carried out according to this measurement method,
And it can be adapted in corresponding automated test device.
Detailed description of the invention
Fig. 1 is calibration schematic diagram；
Fig. 2 is gun sight installation error schematic diagram；
Fig. 3 is gun sight installation error schematic diagram；
Fig. 4 is gun sight installation error schematic diagram；
Specific embodiment
It a kind of is further introduced with embodiment to proposed by the present invention with reference to the accompanying drawing:
A kind of alignment prism installation error measurement method, comprising the following steps:
Step 1 establishes the aerospace systems coordinate system of used group；
It is established by the spatial attitude of the calibration facility of its inertia type instrument, such as turntable, the space reference of turntable can use installation
Datum level on inside casing indicates that the normal of the plane formed with 3 mounting plates represents X-axis, with the bus shape of 2 shop bolts
At the normal of plane represent Y-axis；
The installation error of the alignment prism of navigation system coordinate system can be equivalent at this time are as follows:
α: projection and the parallelism error of positioning basal plane of the alignment prism in installation base surface；
β: alignment prism is in the projection of positioning basal plane and the parallelism error of installation base surface.
Step 2 calculates influence amount △ A of the installation error to aiming azimuth of alignment prism are as follows:
△ A=alpha+beta tan θ (1)
△ A: influence amount of the installation error of alignment prism to aiming azimuth；
α: projection and the parallelism error of positioning basal plane of the alignment prism in installation base surface；
β: alignment prism is in the projection of positioning basal plane and the parallelism error of installation base surface；
θ: sight device pitch angle；
Step 3, the formula according to step 2, by azimuthal influence amount can inverse go out alignment prism installation miss
Difference, its step are as follows:
Angle-measuring equipment is with different pitching angle thetas1、θ2It is directed at alignment prism and carries out azimuthal measurement, angle-measuring equipment utilizes navigation system
Datum level etc. after the visualization conversion of coordinate system can carry out orientation reduction, thus measure at this time installation error to aiming side
The influence amount △ A of parallactic angle1、△A2；
△A1=alpha+beta tan θ1 (2)
△A2=alpha+beta tan θ2 (3)
It can thus be appreciated that:
△A1-△A2=β (tan θ1-tanθ2) (4)
α, β are calculated, the alignment prism installation error measurement based on navigation system coordinate system is completed.
The calibration facility datum level of inertia type instrument is converted to visual basal plane using angle-measuring equipment, completes navigation system coordinate
The visualization of system is converted, then according to influence amount of the installation error of alignment prism to aiming azimuth can inverse it is corresponding out
Installation error.
Claims (1)
1. a kind of alignment prism installation error measurement method, it is characterised in that: the following steps are included:
Step 1 establishes the aerospace systems coordinate system of used group；
It is established by the spatial attitude of turntable, the space reference of turntable is indicated with the basal plane being mounted on inside casing, with 3 and installation base
The normal for the plane that the vertical mounting plate in face surrounds represents X-axis, the normal of the plane formed with the bus of 2 shop bolts represents
Y-axis；
The installation error of the alignment prism of navigation system coordinate system can be equivalent at this time are as follows:
α: projection and the parallelism error of positioning basal plane of the alignment prism in installation base surface；
β: alignment prism is in the projection of positioning basal plane and the parallelism error of installation base surface；
Step 2 calculates influence amount Δ A of the installation error to aiming azimuth of alignment prism are as follows:
Δ A=alpha+beta tan θ (1)
Δ A: influence amount of the installation error of alignment prism to aiming azimuth；
α: projection and the parallelism error of positioning basal plane of the alignment prism in installation base surface；
β: alignment prism is in the projection of positioning basal plane and the parallelism error of installation base surface；
θ: angle-measuring equipment pitch angle；
Step 3, the formula according to step 2, by azimuthal influence amount can inverse go out the installation error of alignment prism,
Steps are as follows:
Angle-measuring equipment is with different pitching angle thetas1、θ2It is directed at alignment prism and carries out azimuthal measurement, angle-measuring equipment utilizes navigation system coordinate
System visualization conversion after basal plane carry out orientation calculating, thus measure at this time installation error to the influence amount of aiming azimuth
ΔA1、ΔA2；
ΔA1=alpha+beta tan θ1 (2)
ΔA2=alpha+beta tan θ2 (3)
It can thus be appreciated that:
ΔA1-ΔA2=β (tan θ1-tanθ2) (4)
α, β are calculated, the alignment prism installation error measurement based on navigation system coordinate system is completed.
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| CN201510463211.3A CN106403993B (en) | 2015-07-31 | 2015-07-31 | A kind of alignment prism installation error measurement method |
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| CN201510463211.3A CN106403993B (en) | 2015-07-31 | 2015-07-31 | A kind of alignment prism installation error measurement method |
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| CN106403993B true CN106403993B (en) | 2019-09-17 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108318054B (en) * | 2018-02-01 | 2020-05-29 | 中国人民解放军国防科技大学 | Reloading calibration device and method for shipborne inertial navigation system |
| CN108759873A (en) * | 2018-07-30 | 2018-11-06 | 武汉华之源网络科技有限公司 | The measurement method at the pitching error of zero angle of detecting devices peculiar to vessel |
| CN109443387B (en) * | 2018-11-21 | 2021-02-09 | 北京航天时代激光导航技术有限责任公司 | Method and system for testing installation error of side reflecting surface of laser inertial measurement unit prism |
| CN110006446B (en) * | 2019-03-21 | 2021-05-14 | 湖北三江航天红峰控制有限公司 | Prism-based inertial measurement unit output calibration method |
| CN112146681B (en) * | 2020-09-12 | 2023-03-10 | 中国运载火箭技术研究院 | Method and device for testing installation error of inertial group prism and computer storage medium |
| CN112129321B (en) * | 2020-09-12 | 2023-03-10 | 中国运载火箭技术研究院 | Gyro zero offset calibration value determining method and device and computer storage medium |
| CN112415493B (en) * | 2020-11-27 | 2023-06-06 | 北京航天计量测试技术研究所 | Coordinate error correction method for three-dimensional scanning laser radar |
| CN113624252B (en) * | 2021-06-30 | 2023-09-12 | 北京自动化控制设备研究所 | Inertial navigation prism azimuth installation deviation calibration method and inertial navigation system |
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| JP2926528B2 (en) * | 1992-08-21 | 1999-07-28 | 旭精密株式会社 | Prism mount device for lightwave distance meter |
| CN102060105B (en) * | 2010-11-23 | 2012-12-26 | 中国兵器工业第二〇五研究所 | Course calibration device with tilt compensation |
| CN103471619B (en) * | 2013-09-27 | 2017-04-05 | 湖南航天机电设备与特种材料研究所 | A kind of laser strapdown inertial navigation system prism ridge orientation installation error calibration |
| CN103674067B (en) * | 2013-12-19 | 2017-04-12 | 哈尔滨工程大学 | Auto-collimation theodolite based transfer alignment verification method |
| CN104035448A (en) * | 2014-05-21 | 2014-09-10 | 北京航天发射技术研究所 | Aiming sight orientation and pitching electronic control tracking aiming device and method |
| CN104501835B (en) * | 2014-12-16 | 2018-02-09 | 北京控制工程研究所 | The ground system test and method that a kind of space-oriented application heterogeneity IMU is initially aligned |
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