CN106768631B - A kind of Three dimensional rotation amount test device and test method based on acceleration analysis - Google Patents
A kind of Three dimensional rotation amount test device and test method based on acceleration analysis Download PDFInfo
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Abstract
A kind of Three dimensional rotation amount test device and test method based on acceleration analysis, the device includes hollow casing, four rectangular coordinate system type brackets that in hollow casing and center is located at non-coplanar 4 points are glued respectively to, are glued respectively to carriage center and the measurement direction accelerometer parallel with the direction x, y and z respectively；Entire measuring device passes through hollow casing as a whole and is bonded on article for rotation to be measured, the accelerometer is used to measure the Three dimensional rotation amount of object under test, wherein angular speed and angular acceleration directly can be directly calculated by the measurement result of accelerometer, and angular displacement can be integrated indirectly by angular speed combination angular acceleration and be obtained.
Description
Technical field
The present invention relates to Three dimensional rotation amount the field of test technology, and in particular to a kind of Three dimensional rotation based on acceleration analysis
Measure test device and test method.
Background technique
It is ubiquitous in human lives to rotate measurement, so-called amount of spin, that is, angular displacement, angular speed and angular acceleration this
Three kinds.Traditional rotation measuring method has gyroscope and rotary encoder, and traditional measurement method can only obtain three kinds of amount of spin
One of, remaining two kinds are obtained by calculation, calculates and generates error inevitably to influence precision.And it needs to measure amount of spin
Occasion such as mobile phone, space flight and aviation, ship etc., while being also required to measurement amount of exercise (acceleration, speed and displacement), amount of exercise
Measurement method be exactly accelerometer.If accelerometer measures amount of spin can be utilized, so that it may save rotation measurement dress
It sets, to reduce cost.Since the cost of accelerometer is more much lower than gyroscope, even if in the field for only needing to measure amount of spin
It closes, can also reduce cost using accelerometer measures amount of spin.
Summary of the invention
In order to overcome the above-mentioned problems of the prior art, the object of the present invention is to provide a kind of based on acceleration analysis
Four groups of three-dimensional orthogonal accelerometers are mounted on as a whole and do space three by Three dimensional rotation amount test device and test method
On the object for tieing up rotation, the relative position of four groups of accelerometers is remained unchanged during rotation, by the survey of four groups of accelerometers
Amount result can be obtained by the space three-dimensional amount of spin of object by certain calculating.
In order to reach the goals above, the present invention adopts the following technical scheme:
A kind of Three dimensional rotation amount test device based on acceleration analysis, including hollow casing 1, are bonded in hollow casing 1
Interior the first rectangular coordinate system type bracket 2, the second rectangular coordinate system type bracket 3, third rectangular coordinate system type bracket 4 and the 4th are straight
Angular coordinate system type bracket 5, the first rectangular coordinate system type bracket 2, the second rectangular coordinate system type bracket 3, third rectangular co-ordinate
It is that the carriage center of type bracket 4 and the 4th rectangular coordinate system type bracket 5 is located at non-coplanar in hollow casing 14 points, if with sky
The lower left corner of heart shell 1 is coordinate origin, then the second rectangular coordinate system type bracket 3, third rectangular coordinate system type bracket 4 and the 4th
X, y and z coordinate value of the carriage center of rectangular coordinate system type bracket 5 will be respectively greater than 2 bracket of the first rectangular coordinate system type bracket
X, the y and z coordinate value at center；It further include being bonded in 2 carriage center of the first rectangular coordinate system type bracket and measurement direction and the direction x
Parallel the first x directional acceleration meter 6, the measurement direction first y directional acceleration meter 7 and measurement direction and z parallel with the direction y
The first parallel z directional acceleration meter 8 of direction is bonded in 3 carriage center of the second rectangular coordinate system type bracket and measurement direction and x
The 2nd parallel x directional acceleration meter 9 of direction, the measurement direction twoth y directional acceleration meter 10 and measurement side parallel with the direction y
To the twoth z directional acceleration meter 11 parallel with the direction z, it is bonded in 4 carriage center of third rectangular coordinate system type bracket and measurement
The direction threeth x directional acceleration meter 12 parallel with the direction x, the measurement direction threeth y directional acceleration meter 13 parallel with the direction y
The threeth z directional acceleration meter 14 parallel with the direction z with measurement direction, is bonded in 5 bracket of the 4th rectangular coordinate system type bracket
The heart and measurement direction fourth x directional acceleration meter 15 parallel with the direction x, the measurement direction fourth y direction parallel with the direction y add
Speedometer 16 and the measurement direction fourth z directional acceleration meter 17 parallel with the direction z；When measurement, entire test device is as one
A to be bonded on article for rotation to be measured entirely through the hollow casing 1, which has certain can measure in space
Range, if the x coordinate of the center of rotation of the area requirement object under test is less than using the lower left corner of hollow casing 1 as coordinate origin
The x coordinate at 2 center of the first rectangular coordinate system type bracket, and the y-coordinate of the center of rotation of object under test is less than the first rectangular co-ordinate
It is the y-coordinate at 2 center of type bracket, and the z coordinate of the center of rotation of object under test is less than 2 center of the first rectangular coordinate system type bracket
Z coordinate；I.e. the device can measure the Three dimensional rotation amount of Moving system.
The test method of test device described above: the first x directional acceleration meter 6, the first y directional acceleration meter 7,
First z directional acceleration meter 8, the 2nd x directional acceleration meter 9, the 2nd y directional acceleration meter 10, the 2nd z directional acceleration meter
11, the 3rd x directional acceleration meter 12, the 3rd y directional acceleration meter 13, the 3rd z directional acceleration meter 14, the 4th direction x accelerate
Degree the 15, the 4th y directional acceleration meter 16 of meter and the 4th z directional acceleration meter 17 are used to measure the Three dimensional rotation amount of object under test,
Wherein angular speedAnd angular accelerationIt can be directly by the measurement result of accelerometer
Directly it is calculated, and angular displacementIt can be integrated and be obtained indirectly by angular velocity omega.
Compared to the prior art, the invention has the following advantages that
(1) set of device can directly obtain angular acceleration simultaneouslyAnd angular speedTwo kinds of Three dimensional rotation amounts, by the way that angular displacement is calculated indirectly
(2) the case where strong applicability, the program can be used for the variation of object under test mass center, only it is to be understood that the rotation of object under test
The approximate location scope at center, measurement can be realized by being located in the measurable range of measuring device.
(3) for needing while measuring amount of exercise (acceleration, speed and displacement) and amount of spin (angular acceleration, angular speed
And angular displacement) occasion, such as aerospace, ship, mobile phone, the measuring device can meet the survey of amount of exercise and amount of spin simultaneously
Amount, to reduce cost.
(4) make for only needing to measure the occasion of amount of spin since the cost of accelerometer is far below the cost of gyroscope
Cost can be also reduced with device measurement.
(5) measurement accuracy of the device depends on the measurement accuracy of accelerometer, is able to achieve higher required precision.
Detailed description of the invention
Fig. 1 is Three dimensional rotation measuring device 3-D view.
Fig. 2 is Three dimensional rotation measuring device measuring principle schematic diagram.
Fig. 3 is that can measure the region of amount of spin when measuring Three dimensional rotation amount respectively in (a) xoy plane, (b) xoz plane and
(c) projection in yoz plane, shadow region indicate.
Fig. 4 is Three dimensional rotation measuring device measurement satellite amount of spin schematic diagram.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is described in further details.
As shown in Figure 1, a kind of Three dimensional rotation amount test device based on acceleration analysis of the present embodiment, including hollow casing
1, the first rectangular coordinate system type bracket 2, the second rectangular coordinate system type bracket 3, third rectangular co-ordinate being bonded in hollow casing 1
It is type bracket 4 and the 4th rectangular coordinate system type bracket 5, the first rectangular coordinate system type bracket 2, the second rectangular coordinate system type branch
The carriage center of frame 3, third rectangular coordinate system type bracket 4 and the 4th rectangular coordinate system type bracket 5 is located in hollow casing 1 not altogether
4 points of face, if using the lower left corner of hollow casing 1 as coordinate origin, the second rectangular coordinate system type bracket 3, third rectangular co-ordinate
It is that x, y of the carriage center of type bracket 4 and the 4th rectangular coordinate system type bracket 5 and z coordinate value will be respectively greater than the first right angle seat
X, y and z coordinate value of 2 carriage center of mark system type bracket；Further include be bonded in 2 carriage center of the first rectangular coordinate system type bracket and
The measurement direction first x directional acceleration meter 6 parallel with the direction x, the measurement direction first y directional acceleration parallel with the direction y
Meter 7 and the measurement direction first z directional acceleration meter 8 parallel with the direction z, are bonded in 3 bracket of the second rectangular coordinate system type bracket
Center and the measurement direction twoth x directional acceleration meter 9 parallel with the direction x, the measurement direction twoth y direction parallel with the direction y
Accelerometer 10 and the measurement direction twoth z directional acceleration meter 11 parallel with the direction z, are bonded in third rectangular coordinate system type branch
4 carriage center of frame and the measurement direction threeth x directional acceleration meter 12 parallel with the direction x, measurement direction it is parallel with the direction y
Three y directional acceleration meters 13 and the measurement direction threeth z directional acceleration meter 14 parallel with the direction z are bonded in the 4th right angle seat
5 carriage center of mark system type bracket and measurement direction fourth x directional acceleration meter 15, measurement direction and the y direction parallel with the direction x
The 4th parallel y directional acceleration meter 16 and the measurement direction fourth z directional acceleration meter 17 parallel with the direction z.
The accelerometer is used to measure the Three dimensional rotation amount of object under test, by the first rectangular coordinate system type bracket 2,
Distinguish at the center of second rectangular coordinate system type bracket 3, third rectangular coordinate system type bracket 4 and the 4th rectangular coordinate system type bracket 5
4 points of A, B, C and D are denoted as, then above-mentioned accelerometer is denoted as a in the measurement result of sometime t respectivelyAx、aAy、aAz、aBx、aBy、
aBz、aCx、aCy、aCz、aDx、aDyAnd aDz, center A and B is denoted as d at a distance from three reference axis respectivelyABx、dAByAnd dABz, center
A and C is denoted as d at a distance from three reference axis respectivelyACx、dACyAnd dACz, center A and D is along difference at a distance from three reference axis
It is denoted as dADx、dADyAnd dADz, as shown in Fig. 2.Using several in the definition of normal acceleration and tangential acceleration and attached drawing 2
What available following equation group of relationship:
Formula 1 is about ωx 2, ωy 2, ωz 2, βx, βy, βz, ωxωy, ωxωzAnd ωyωzNine yuan of linear function groups,
Solving equation group can be obtained angular acceleration and angular speed in Three dimensional rotation amount are as follows:
Wherein:
Eβx=-(dABxdACy(aDy-aAy)-dABxdADy(aCy-aAy)-dABydACx(aDy-aAy)+dABydADx(aCy-aAy)+
dACxdADy(aBy-aAy)-dACydADx(aBy-aAy)+dABxdACz(aDz-aAz)-dABxdADz(aCz-aAz)-dABzdACx(aDz-aAz)+
dABzdADx(aCz-aAz)+dACxdADz(aBz-aAz)-dACzdADx(aBz-aAz))
Eβy=dABxdACy(aDx-aAx)-dABxdADy(aCx-aAx)-dABydACx(aDx-aAx)+dABydADx(aCx-aAx)+dACxdADy
(aBx-aAx)-dACydADx(aBx-aAx)-dABydACz(aDz-aAz)+dABydADz(aCz-aAz)+dABzdACy(aDz-aAz)-dABzdADy
(aCz-aAz)-dACydADz(aBz-aAz)+dACzdADy(aBz-aAz)
Eβz=dABxdACz(aDx-aAx)-dABxdADz(aCx-aAx)-dABzdACx(aDx-aAx)+dABzdADx(aCx-aAx)+dACxdADz
(aBx-aAx)-dACzdADx(aBx-aAx)+dABydACz(aDy-aAy)-dABydADz(aCy-aAy)-dABzdACy(aDy-aAy)+dABzdADy
(aCy-aAy)+dACydADz(aBy-aAy)-dACzdADy(aBy-aAy)
Eωx=dABydACz(aDx-aAx)-dABydADz(aCx-aAx)-dABzdACy(aDx-aAx)+dABzdADy(aCx-aAx)+dACydADz
(aBx-aAx)-dACzdADy(aBx-aAx)+dABxdACz(aDy-aAy)-dABxdADz(aCy-aAy)-dABzdACx(aDy-aAy)+dABzdADx(aCy-
aAy)+dACxdADz(aBy-aAy)-dACzdADx(aBy-aAy)-dABxdACy(aDz-aAz)+dABxdADy(aCz-aAz)+dABydACx(aDz-
aAz)-dABydADx(aCz-aAz)-dACxdADy(aBz-aAz)+dACydADx(aBz-aAz)
Eωy=-(dABydACz(aDx-aAx)-dABydADz(aCx-aAx)-dABzdACy(aDx-aAx)+dABzdADy(aCx-aAx)+
dACydADz(aBx-aAx)-dACzdADy(aBx-aAx)+dABxdACz(aDy-aAy)-dABxdADz(aCy-aAy)-dABzdACx(aDy-aAy)+
dABzdADx(aCy-aAy)+dACxdADz(aBy-aAy)-dACzdADx(aBy-aAy)+dABxdACy(aDz-aAz)-dABxdADy(aCz-aAz)-
dABydACx(aDz-aAz)+dABydADx(aCz-aAz)+dACxdADy(aBz-aAz)-dACydADx(aBz-aAz))
Eωz=-(dABydACz(aDx-aAx)-dABydADz(aCx-aAx)-dABzdACy(aDx-aAx)+dABzdADy(aCx-aAx)+
dACydADz(aBx-aAx)-dACzdADy(aBx-aAx)-dABxdACz(aDy-aAy)+dABxdADz(aCy-aAy)+dABzdACx(aDy-aAy)-
dABzdADx(aCy-aAy)-dACxdADz(aBy-aAy)+dACzdADx(aBy-aAy)-dABxdACy(aDz-aAz)+dABxdADy(aCz-aAz)+
dABydACx(aDz-aAz)-dABydADx(aCz-aAz)-dACxdADy(aBz-aAz)+dACydADx(aBz-aAz))
Fβx=Fβy=Fβz=Fωx=Fωy=Fωz=2 (dABxdACydADz-dABxdACzdADy-dABydACxdADz+dABydACzdADx+
dABzdACxdADy-dABzdACydADx)
By the calculated angular acceleration of formula 2Any one component be all tape symbol, for
If as a result any one component is positive, expression is rotated counterclockwise around the corresponding reference axis of the component, if being as a result negative expression
It is rotated clockwise around the corresponding reference axis of the component.The angular speed being calculated by formula 3It is not have
Symbol, it can only indicate size, the symbol of angular speed determines (meaning of symbol is identical as angular acceleration) by following formula:
Wherein, t indicates current time, and t-1 indicates last moment, and Δ t indicates time interval m1, m2And m3Respectively indicate one
The variable that a value is 0 or 1.
There are angular speed and angular acceleration, angular displacement further can be obtained by integral:
Wherein,WithIt is corresponding just to respectively indicate the initial position of Three dimensional rotation object in three directions
Beginning phase.
Entire measuring device passes through the hollow casing 1 as a whole and is bonded on article for rotation to be measured.The three-dimensional
Rotation measuring method has certain measurable range in space, if using the lower left corner of hollow casing 1 as coordinate origin, the model
Enclose x coordinate of the x coordinate less than 2 center of the first rectangular coordinate system type bracket of the center of rotation of requirement object under test, and determinand
Y-coordinate of the y-coordinate of the center of rotation of body less than 2 center of the first rectangular coordinate system type bracket, and the center of rotation of object under test
Z coordinate less than 2 center of the first rectangular coordinate system type bracket z coordinate；I.e. the device can measure the three-dimensional of Moving object
Amount of spin, above-mentioned measurable region is as shown in shadow region in Fig. 3.
It is illustrated by taking the Three dimensional rotation measurement of satellite as an example below, for satellite shown in Fig. 4, center of rotation is big
Generally near mass center C, and the shell 1 of the Three dimensional rotation measuring device can be bonded in the lower left corner of satellite shell, in this way
Mass center C can be just set to be located at the survey realized in the measurable region of Three dimensional rotation measuring device to satellite Three dimensional rotation amount
Amount.It is above-mentioned only to enumerate specific embodiments of the present invention, it should be pointed out that those skilled in the art are come
It says, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be
Protection scope of the present invention.
Claims (2)
1. a kind of Three dimensional rotation amount test device based on acceleration analysis, it is characterised in that: including hollow casing (1), bonding
The first rectangular coordinate system type bracket (2), the second rectangular coordinate system type bracket (3), third rectangular co-ordinate in hollow casing (1)
It is type bracket (4) and the 4th rectangular coordinate system type bracket (5), the first rectangular coordinate system type bracket (2), the second rectangular co-ordinate
It is the carriage center of type bracket (3), third rectangular coordinate system type bracket (4) and the 4th rectangular coordinate system type bracket (5) positioned at sky
Non-coplanar 4 points in heart shell (1), if using the lower left corner of hollow casing (1) as coordinate origin, the second rectangular coordinate system type
X, y and z of the carriage center of bracket (3), third rectangular coordinate system type bracket (4) and the 4th rectangular coordinate system type bracket (5) are sat
Scale value will be respectively greater than x, y and z coordinate value of first rectangular coordinate system type bracket (2) carriage center；It further include being bonded in first
Rectangular coordinate system type bracket (2) carriage center and the measurement direction first x directional acceleration meter (6) parallel with the direction x, measurement side
The first z directional acceleration meter parallel with the direction z to the first y directional acceleration meter (7) parallel with the direction y and measurement direction
(8), it is bonded in the second rectangular coordinate system type bracket (3) carriage center and the measurement direction twoth x direction parallel with the direction x accelerates
Degree meter (9), the measurement direction twoth y directional acceleration meter (10) and measurement direction parallel with the direction y it is parallel with the direction z second
Z directional acceleration meter (11), is bonded in third rectangular coordinate system type bracket (4) carriage center and measurement direction is parallel with the direction x
The 3rd x directional acceleration meter (12), the measurement direction threeth y directional acceleration meter (13) and measurement direction parallel with the direction y
The threeth z directional acceleration meter (14) parallel with the direction z, is bonded in the 4th rectangular coordinate system type bracket (5) carriage center and survey
Measure the direction fourth x directional acceleration meter (15) parallel with the direction x, the measurement direction fourth y directional acceleration parallel with the direction y
Count (16) and the measurement direction fourth z directional acceleration meter (17) parallel with the direction z；When measurement, entire test device is as one
A to be bonded on article for rotation to be measured entirely through the hollow casing (1), which has certain survey in space
Range is measured, if using the lower left corner of hollow casing (1) as coordinate origin, the x coordinate of the center of rotation of the area requirement object under test
Less than the x coordinate at first rectangular coordinate system type bracket (2) center, and the y-coordinate of the center of rotation of object under test is straight less than first
The y-coordinate at angular coordinate system type bracket (2) center, and the z coordinate of the center of rotation of object under test is less than the first rectangular coordinate system type
The z coordinate at bracket (2) center；I.e. the device can measure the Three dimensional rotation amount of Moving system.
2. a kind of test method of Three dimensional rotation amount test device based on acceleration analysis described in claim 1, feature
It is: the first x directional acceleration meter (6), the first y directional acceleration meter (7), the first z directional acceleration meter (8), the 2nd x
Directional acceleration meter (9), the 2nd y directional acceleration meter (10), the 2nd z directional acceleration meter (11), the 3rd x directional acceleration meter
(12), the 3rd y directional acceleration meter (13), the 3rd z directional acceleration meter (14), the 4th x directional acceleration meter (15), the 4th y
Directional acceleration meter (16) and the 4th z directional acceleration meter (17) are used to measure the Three dimensional rotation amount of object under test, by described the
One rectangular coordinate system type bracket (2), the second rectangular coordinate system type bracket (3), third rectangular coordinate system type bracket (4) and the 4th are straight
The center of angular coordinate system type bracket (5) is denoted as 4 points of A, B, C and D respectively, then measurement knot of the above-mentioned accelerometer in sometime t
Fruit is denoted as a respectivelyAx、aAy、aAz、aBx、aBy、aBz、aCx、aCy、aCz、aDx、aDyAnd aDz, center A and B along three reference axis away from
From being denoted as d respectivelyABx、dAByAnd dABz, center A and C is denoted as d at a distance from three reference axis respectivelyACx、dACyAnd dACz, center A
It is denoted as d respectively at a distance from three reference axis with DADx、dADyAnd dADz, then can directly be calculated in Three dimensional rotation amount
Angular acceleration and angular speed are
Wherein:
Eβx=-(dABxdACy(aDy-aAy)-dABxdADy(aCy-aAy)-dABydACx(aDy-aAy)+dABydADx(aCy-aAy)+dACxdADy
(aBy-aAy)-dACydADx(aBy-aAy)+dABxdACz(aDz-aAz)-dABxdADz(aCz-aAz)-dABzdACx(aDz-aAz)+dABzdADx
(aCz-aAz)+dACxdADz(aBz-aAz)-dACzdADx(aBz-aAz))
Eβy=dABxdACy(aDx-aAx)-dABxdADy(aCx-aAx)-dABydACx(aDx-aAx)+dABydADx(aCx-aAx)+dACxdADy(aBx-
aAx)-dACydADx(aBx-aAx)-dABydACz(aDz-aAz)+dABydADz(aCz-aAz)+dABzdACy(aDz-aAz)-dABzdADy(aCz-
aAz)-dACydADz(aBz-aAz)+dACzdADy(aBz-aAz)
Eβz=dABxdACz(aDx-aAx)-dABxdADz(aCx-aAx)-dABzdACx(aDx-aAx)+dABzdADx(aCx-aAx)+dACxdADz(aBx-
aAx)-dACzdADx(aBx-aAx)+dABydACz(aDy-aAy)-dABydADz(aCy-aAy)-dABzdACy(aDy-aAy)+dABzdADy(aCy-aAy)
+dACydADz(aBy-aAy)-dACzdADy(aBy-aAy)
Eωx=dABydACz(aDx-aAx)-dABydADz(aCx-aAx)-dABzdACy(aDx-aAx)+dABzdADy(aCx-aAx)+dACydADz(aBx-
aAx)-dACzdADy(aBx-aAx)+dABxdACz(aDy-aAy)-dABxdADz(aCy-aAy)-dABzdACx(aDy-aAy)+dABzdADx(aCy-aAy)+
dACxdADz(aBy-aAy)-dACzdADx(aBy-aAy)-dABxdACy(aDz-aAz)+dABxdADy(aCz-aAz)+dABydACx(aDz-aAz)-
dABydADx(aCz-aAz)-dACxdADy(aBz-aAz)+dACydADx(aBz-aAz)
Eωy=-(dABydACz(aDx-aAx)-dABydADz(aCx-aAx)-dABzdACy(aDx-aAx)+dABzdADy(aCx-aAx)+dACydADz
(aBx-aAx)-dACzdADy(aBx-aAx)+dABxdACz(aDy-aAy)-dABxdADz(aCy-aAy)-dABzdACx(aDy-aAy)+dABzdADx
(aCy-aAy)+dACxdADz(aBy-aAy)-dACzdADx(aBy-aAy)+dABxdACy(aDz-aAz)-dABxdADy(aCz-aAz)-dABydACx
(aDz-aAz)+dABydADx(aCz-aAz)+dACxdADy(aBz-aAz)-dACydADx(aBz-aAz))
Eωz=-(dABydACz(aDx-aAx)-dABydADz(aCx-aAx)-dABzdACy(aDx-aAx)+dABzdADy(aCx-aAx)+dACydADz
(aBx-aAx)-dACzdADy(aBx-aAx)-dABxdACz(aDy-aAy)+dABxdADz(aCy-aAy)+dABzdACx(aDy-aAy)-dABzdADx
(aCy-aAy)-dACxdADz(aBy-aAy)+dACzdADx(aBy-aAy)-dABxdACy(aDz-aAz)+dABxdADy(aCz-aAz)+dABydACx
(aDz-aAz)-dABydADx(aCz-aAz)-dACxdADy(aBz-aAz)+dACydADx(aBz-aAz))
Fβx=Fβy=Fβz=Fωx=Fωy=Fωz=2 (dABxdACydADz-dABxdACzdADy-dABydACxdADz+dABydACzdADx+
dABzdACxdADy-dABzdACydADx)
By the calculated angular acceleration of above-mentioned formulaAny one component be all tape symbol, for appoint
If meaning one-component be as a result positive expression rotated counterclockwise around the corresponding reference axis of the component, if be as a result negative expression around
The corresponding reference axis of the component rotate clockwise；The angular speed being calculated by above-mentioned formulaIt is not have
There is symbol, can only indicate size, the symbol of angular speed is determined by following formula, and the meaning of symbol is identical as angular acceleration:
Wherein, t indicates current time, and t-1 indicates last moment, and Δ t indicates time interval, m1, m2And m3One is respectively indicated to take
The variable that value is 0 or 1；Angular displacement, which is calculated, indirectly is
Wherein,WithIt is corresponding just to respectively indicate initial position of the Three dimensional rotation object in three rotation directions
Beginning phase.
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| CN111664996B (en) * | 2020-07-08 | 2021-11-30 | 福州大学 | Three-dimensional rotation quantity testing device convenient to install and testing method |
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| CN200993558Y (en) * | 2006-12-13 | 2007-12-19 | 中国科学院沈阳自动化研究所 | Inertial system angular disturbance measuring device |
| CN106093468A (en) * | 2016-06-30 | 2016-11-09 | 航天科工惯性技术有限公司 | A kind of device measured for angular acceleration |
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| CN101201233B (en) * | 2006-12-13 | 2011-08-24 | 中国科学院沈阳自动化研究所 | Apparatus for measuring angle perturbation of inertia system and uses thereof |
| CN101571395B (en) * | 2009-06-15 | 2011-01-05 | 哈尔滨工程大学 | Microminiature inertial-combined navigation parameter measuring method |
| JP2011133244A (en) * | 2009-12-22 | 2011-07-07 | Advanced Telecommunication Research Institute International | Rotation sensor |
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| CN106093468A (en) * | 2016-06-30 | 2016-11-09 | 航天科工惯性技术有限公司 | A kind of device measured for angular acceleration |
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