CN106705991B - Strapdown is used to group and aims prism installation error test equipment - Google Patents
Strapdown is used to group and aims prism installation error test equipment Download PDFInfo
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- CN106705991B CN106705991B CN201510484770.2A CN201510484770A CN106705991B CN 106705991 B CN106705991 B CN 106705991B CN 201510484770 A CN201510484770 A CN 201510484770A CN 106705991 B CN106705991 B CN 106705991B
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Abstract
The invention belongs to the technical field of error testing, and particularly relates to a device for testing the installation error of a strapdown inertial unit aiming prism, which is used for solving the problem of automatic and accurate measurement of the installation error of the aiming prism installed on the strapdown inertial unit so as to ensure the accuracy of aiming orientation; the device comprises two photoelectric autocollimators 10, an autocollimator support 11, a collimating prism 12, a standard body 13 and a rotary table 14, wherein the autocollimator support 11 is arranged on one side of the rotary table 14, and the two photoelectric autocollimators 10 are arranged at the upper end of the autocollimator support 11; a standard body 13 is arranged on the rotary table 14, a sighting prism 12 is arranged on the standard body 13, and the two photoelectric autocollimators 10 are aligned with the sighting prism 12; the method has the advantages of simple operation, short test time, low requirements on personnel sites and the like, convenience in test implementation, high test precision, accurate aiming and orientation, capability of carrying out a large number of tests, and good application effect because data passes strict examination in a flight test.
Description
Technical Field
The invention belongs to the technical field of error testing, and particularly relates to a device for testing installation errors of a strapdown inertial measurement unit aiming prism.
Background
The strapdown inertial measurement unit (called inertial measurement unit for short) is a commonly used attitude measurement device for airplanes, ships, rockets and the like, and the aiming prism installed on the inertial measurement unit is an alignment target when the aiming prism is used for aiming and orienting. The mounting error will directly affect the precision of aiming orientation, so it is necessary to measure it accurately.
In the prior art, universal measuring equipment such as theodolite and the like is used for testing the mounting error of the sighting prism, temporary equipment needs to be erected every time, the operation is complicated, the testing time is long, the requirements on personnel and sites are high, the data dispersion is large, and the implementation of the testing technology is not facilitated.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the equipment for testing the installation error of the strapdown inertial unit aiming prism, which can solve the problem of automatic and accurate measurement of the installation error of the strapdown inertial unit aiming prism so as to ensure the accuracy of aiming orientation.
The technical scheme of the invention is as follows:
a device for testing installation errors of a strapdown inertial measurement unit aiming prism comprises two photoelectric autocollimators, an autocollimator bracket, an aiming prism, a standard body and a rotary table, wherein the autocollimator bracket is arranged on one side of the rotary table, and the two photoelectric autocollimators are arranged at the upper end of the autocollimator bracket; the turntable is provided with a standard body, the standard body is provided with a sighting prism, and the two photoelectric autocollimators aim at the sighting prism at different pitch angles.
The photoelectric autocollimator comprises an objective lens, a spectroscope, a reticle, a light source and a photoelectric detector, wherein transverse light paths of the objective lens, the spectroscope and the photoelectric detector are coaxial, and longitudinal light paths of the spectroscope, the reticle and the light source are coaxial.
The standard body comprises a front base surface, a reference prism, a base surface and a substrate, wherein the base surface is arranged on the substrate, the reference prism is arranged above the base surface, and the front base surface is arranged on one side of the base surface.
The invention has the beneficial effects that:
1. the device for testing the installation error of the sighting prism of the strapdown inertial measurement unit is simple to operate, short in testing time, low in requirements for personnel sites and the like, and convenient to test and implement.
2. The device for testing the installation error of the strapdown inertial measurement unit aiming prism provided by the invention has high testing precision and accurate aiming orientation.
3. The device for testing the installation error of the strapdown inertial unit aiming prism provided by the invention is used for carrying out a large number of tests, and data passes strict examination in a flight test, so that a good application effect is obtained.
Drawings
FIG. 1 is a diagram of a photoelectric autocollimator;
FIG. 2 is a schematic diagram of a standard body;
FIG. 3 is a block diagram of a device for testing the installation error of a strapdown inertial measurement unit aiming prism;
fig. 4 and 5 are schematic diagrams for measuring mounting errors of the aiming prism.
Detailed Description
The following further describes a device for testing the installation error of the strapdown inertial measurement unit aiming prism, which is provided by the invention, with reference to the accompanying drawings and embodiments:
a device for testing installation errors of a strapdown inertial measurement unit aiming prism comprises two photoelectric autocollimators 10, an autocollimator support 11, an aiming prism 12, a standard body 13 and a rotary table 14, wherein the autocollimator support 11 is arranged on one side of the rotary table 14, and the two photoelectric autocollimators 10 are arranged at the upper end of the autocollimator support 11; the turntable 14 is provided with a standard body 13, the standard body 13 is provided with a sighting prism 12, and the two photoelectric autocollimators 10 are aligned with the sighting prism 12.
The photoelectric autocollimator 10 comprises an objective lens 1, a spectroscope 2, a reticle 3, a light source 4 and a photoelectric detector 5, wherein transverse light paths of the objective lens 1, the spectroscope 2 and the photoelectric detector 5 are coaxial, and longitudinal light paths of the spectroscope 2, the reticle 3 and the light source 4 are coaxial.
The standard body 13 comprises a front base surface 6, a reference prism 7, a base surface 8 and a substrate 9, wherein the base surface 8 is arranged on the substrate 9, the reference prism 7 is arranged above the base surface 8, and the front base surface 6 is arranged on one side of the base surface 8.
The influence of the mounting error of the aiming prism on aiming orientation and azimuth angle measurement is shown as formula (i), wherein delta A is an azimuth angle, and theta is a pitch angle of the angle measuring instrument:
ΔA＝α+β·tanθ …………………………①
the device uses two angle measuring instruments (autocollimators 10) to align the prisms at different pitch angles, and can calculate the installation error of the prism to be measured according to the difference between the prism to be measured and the reference prism, as shown in fig. 4. The autocollimator uses the measuring optical axis as a reference to establish a measuring coordinate system, and the reference prism represents the spatial position of the test base plane and can consider the installation error to be zero.
The 1# autocollimator collimates with the prism in a horizontal collimation mode theta 0 DEG, and the azimuth angle measured value of the 1# autocollimator to the reference prism is C01The azimuth angle measured value of the prism to be measured is C1And the azimuth difference between the prism to be measured and the reference prism measured by the 1# autocollimator is delta A1＝C1-C01From the formula (ii):
α＝ΔA1＝C1-C01 …………………………②
the 2# autocollimator is aimed upward in an oblique aiming mode, the pitch angle theta is 20 degrees, the autocollimator is collimated with a prism, and the azimuth angle measured value of the autocollimator to a reference prism is C02The azimuth angle measured value of the prism to be measured is C2And the azimuth difference between the prism to be measured and the reference prism measured by the 2# autocollimator is delta A2＝C2-C02From formula (c):
the test flow comprises the following steps:
zero calibration
Before measurement, the standard body is placed on an inner frame of a leveled rotating table, is tightly attached to an inertial set positioning base surface and an installation base surface on the inner frame, and the position of a zero optical axis of the autocollimator relative to an inertial set coordinate system is corrected.
Measuring
Then the standard body is taken down, and the measured inertial measurement unit is arranged on the rotary table; after the inertial unit is heated stably, the two autocollimators finish automatic collimation with the collimation prism respectively in a horizontal collimation mode and an oblique collimation mode.
Data processing
The data processing module collects the reading of the autocollimator according to the formula, and the installation error of the prism can be automatically calculated.
Claims (1)
1. The utility model provides a strapdown is used to group and aims prism installation error test equipment which characterized in that: the device comprises two photoelectric autocollimators (10), autocollimator supports (11), an aiming prism (12), a standard body (13) and a rotary table (14), wherein the autocollimator supports (11) are arranged on one side of the rotary table (14), and the two photoelectric autocollimators (10) are arranged at the upper ends of the autocollimator supports (11); a standard body (13) is arranged on the rotary table (14), a sighting prism (12) is arranged on the standard body (13), and the two photoelectric autocollimators (10) are aligned to the sighting prism (12); the two photoelectric autocollimators (10) align to the collimating prism (12) at different pitch angles, and the installation error of the prism to be measured is calculated according to the difference value between the prism to be measured and the reference prism;
the photoelectric autocollimator (10) comprises an objective lens (1), a spectroscope (2), a reticle (3), a light source (4) and a photoelectric detector (5), wherein transverse light paths of the objective lens (1), the spectroscope (2) and the photoelectric detector (5) are coaxial, and longitudinal light paths of the spectroscope (2), the reticle (3) and the light source (4) are coaxial;
the standard body (13) comprises a front base surface (6), a reference prism (7), a base surface (8) and a substrate (9), wherein the base surface (8) is arranged on the substrate (9), the reference prism (7) is arranged above the base surface (8), and the front base surface (6) is arranged on one side of the base surface (8);
the influence of the mounting error of the aiming prism on aiming orientation and azimuth angle measurement is shown as formula (i), wherein delta A is an azimuth angle, and theta is a pitch angle of the angle measuring instrument:
ΔA＝α+β·tanθ…………………………①
aligning the prisms with different pitch angles by using two autocollimators, and calculating the installation error of the prism to be tested according to the difference value between the prism to be tested and a reference prism, wherein the autocollimators establish a measurement coordinate system by taking a measurement optical axis of the autocollimators as a reference, and the installation error of the reference prism is considered to be zero by representing the spatial position of a test base plane;
the autocollimator collimates with the prism in a horizontal collimation mode theta 0 DEG, and the azimuth angle measured value of the autocollimator to the reference prism is C01The azimuth angle measured value of the prism to be measured is C1The azimuth difference between the prism to be measured and the reference prism measured by the autocollimator is delta A1＝C1-C01From the formula (ii):
α＝ΔA1＝C1-C01…………………………②
the autocollimator is collimated with the prism by upward looking-up, the pitch angle theta is 20 degrees, and the azimuth angle measured value of the autocollimator to the reference prism is C02The azimuth angle measured value of the prism to be measured is C2If the azimuth difference between the prism to be measured and the reference prism measured by the autocollimator is delta A2＝C2-C02From formula (c):
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| CN109459054B (en) * | 2018-10-25 | 2022-07-26 | 北京航天计量测试技术研究所 | Moving base attitude calibration method based on auto-collimation tracking |
| 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 |
| CN111121734A (en) * | 2020-01-03 | 2020-05-08 | 中国船舶重工集团公司第七0七研究所 | Device and method for measuring deformation of inertial equipment mounting base |
| CN111829492B (en) * | 2020-07-24 | 2021-11-30 | 中交第二航务工程局有限公司 | Laser plummet application-based contact measurement method |
| CN112212888B (en) * | 2020-08-28 | 2023-05-12 | 北京航天万鸿高科技有限公司 | Strapdown inertial measurement unit reference plane mirror calibration device and method based on double-shaft turntable |
| 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 |
| CN116222301A (en) * | 2022-12-29 | 2023-06-06 | 北京中科宇航技术有限公司 | Rapid aiming method and system for offshore launching rocket |
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| CN102679946B (en) * | 2012-05-23 | 2016-12-14 | 北京理工大学 | Method for calibrating spatial azimuth angle of light collimation system |
| US9239237B2 (en) * | 2013-04-08 | 2016-01-19 | Optikos Corporation | Optical alignment apparatus and methodology for a video based metrology tool |
| 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 |
| CN104697747B (en) * | 2014-12-19 | 2017-09-26 | 北京兴华机械厂 | A kind of optical laying prism installation accuracy deviation demarcation detection method of plateform system |
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