CN106855419B - Right-angle prism calibration test method based on accelerometer coordinate system - Google Patents
Right-angle prism calibration test method based on accelerometer coordinate system Download PDFInfo
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- CN106855419B CN106855419B CN201611256420.1A CN201611256420A CN106855419B CN 106855419 B CN106855419 B CN 106855419B CN 201611256420 A CN201611256420 A CN 201611256420A CN 106855419 B CN106855419 B CN 106855419B
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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
Abstract
The invention belongs to the technical field of precision measurement, and particularly relates to a rectangular prism calibration test method based on an accelerometer coordinate system. The method comprises the following steps: 1) establishing a three-dimensional coordinate system through three accelerometers in a laser strapdown inertial measurement unit; 2) measuring the installation error value of the right-angle prism; the measurement error is the installation error of the two rectangular prisms around the X axis of the three-dimensional coordinate system and the installation error of the rectangular prisms around the Y axis of the three-dimensional coordinate system; the method can eliminate the influence of the deformation of the outer box body and the shock absorber on the precision of the laser strapdown inertial measurement unit, and simultaneously, the directional result of the laser strapdown inertial measurement unit transmitted outwards is more accurate and reliable.
Description
Technical Field
The invention belongs to the technical field of precision measurement, and particularly relates to a rectangular prism calibration test method based on an accelerometer coordinate system.
Background
The laser strapdown inertial measurement unit basically adopts an inner vibration reduction mode in structure, and a traditional twelve-position parameter calibration method based on an outer box coordinate system is adopted in the past, so that the calibration parameters of the laser strapdown inertial measurement unit are changed due to structural deformation of an outer box and a vibration absorber after long-time use. Similarly, the measurement of the installation error of the right-angle prism of the laser strapdown inertial measurement unit is based on the positioning surface of the outer box body, so that the measurement of the installation position error of the right-angle prism is also influenced by the deformation of the outer box body and the shock absorber, and the right-angle prism cannot transmit the real orientation result of the laser strapdown inertial measurement unit.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a method for measuring the installation error of a rectangular prism based on an accelerometer coordinate system, which is suitable for a laser strapdown inertial unit to adopt a position parameter calibration method based on the accelerometer coordinate system, eliminates the influence of the deformation of an outer box and a shock absorber on the precision of the laser strapdown inertial unit, and simultaneously enables the orientation result of the laser strapdown inertial unit transmitted outwards to be more accurate and reliable.
The specific technical scheme of the invention is as follows:
a method for calibrating and testing a rectangular prism based on an accelerometer coordinate system establishes a virtual three-dimensional coordinate system parallel to an accelerometer, and detects the installation error of the rectangular prism by taking the three-dimensional coordinate system as a reference, comprising the following steps:
1) establishing a three-dimensional coordinate system through three accelerometers in a laser strapdown inertial measurement unit; the theoretical situation requires: the X axis of the three-dimensional coordinate system is parallel to the mirror surface of the rectangular prism; the Y axis is parallel to the normal of the right-angle prism surface; the Z axis is parallel to the ridge line of the right-angle prism;
2) actually installing a right-angle prism, and actually measuring an installation error value of the right-angle prism;
measuring the installation error value delta α of the rectangular prism around the X axis of the three-dimensional coordinate system;
a1) placing the four leveling components on the flat component, and placing the laser strapdown inertial measurement unit on the four leveling components in a mode that a right-angle prism normal line is upward; placing an oil container on the flat component;
a2) adjusting the four leveling components to ensure that the absolute value of leveling angles of two accelerometers in the laser strapdown inertial measurement unit in the horizontal direction is less than 5', wherein the leveling angles are obtained by reversely deducing output pulses of the two horizontal accelerometers;
a3) placing an autocollimator, emitting a beam of light in the direction from top to bottom on the mirror surface of the right-angle prism, collimating the autocollimator with the horizontal oil surface of the oil container, aiming the autocollimator at the mirror surface of the right-angle prism to obtain the reading α of the autocollimator, and thus obtaining the installation error value delta α of the right-angle prism around the X axis of the three-dimensional coordinate system;
b, measuring an installation error value delta β of the rectangular prism around the Y axis of the three-dimensional coordinate system;
b1) placing the four leveling assemblies on a digital display universal rotary table, and placing a laser strapdown inertial measurement unit on the four leveling assemblies in the upward direction of the ridge line of the right-angle prism;
b2) adjusting the four leveling assemblies to ensure that the absolute value of the leveling angles of two accelerometers in the laser strapdown inertial measurement unit in the horizontal direction is less than 5';
b3) placing a theodolite, emitting a beam of light in the direction from left to right or from right to left of the right-angled prism mirror surface, firstly collimating the theodolite by using the mirror surface of the right-angled prism, then locking the horizontal rotation and pitching of the theodolite, and recording the horizontal image reading β 1 of the theodolite dial at the moment;
b4) and the digital display universal turntable rotates anticlockwise by 25 degrees, the horizontal reading β 2 on the theodolite dial at the moment is recorded, and the installation error value delta β of the rectangular prism around the Y axis of the three-dimensional coordinate system is obtained by dividing the difference value of the β 1 and the β 2 by tg25 degrees.
The invention has the advantages that:
1. the measuring method is suitable for laser strapdown inertial measurement units or positioning and orienting systems with high-precision alignment requirements, such as vehicles, aircrafts, ships and the like, eliminates the test error of the right-angle prism, and improves the calibration precision of the whole system.
2. The invention adopts the three-dimensional coordinate system of the accelerometer to calibrate the rectangular prism, reduces the error, improves the measurement precision of the mounting error of the rectangular prism and is suitable for the high-precision alignment requirement.
3. The leveling assemblies, the flat plate assembly, the oil container, the digital display universal rotary table, the autocollimator and the theodolite are common devices used in measurement, additional increase is not needed, and meanwhile, four corners are leveled through the four leveling assemblies, so that the four-corner leveling method is simple to operate and easy to realize.
Drawings
FIG. 1 is a diagram of a rectangular prism around a three-dimensional coordinate systembtXbtSchematic diagram of installation error of the shaft.
FIG. 2 is a diagram of a rectangular prism around a three-dimensional coordinate systembtYbtSchematic diagram of installation error of the shaft.
Detailed Description
Prism installation error in existing laser strapdown inertial measurement unitMainly divided into two parts, see fig. 1 and 2: o of rectangular prism around three-dimensional coordinate systembtXbtthe mounting error of the shaft is αLJPositive according to the right hand rule;
o of rectangular prism around three-dimensional coordinate systembtYbtthe mounting error of the shaft is βLJthe right hand rule is positive, and the measuring method of the invention is αLJ、βLJThe method of measuring (1). It should be noted that: o isbtXbtYbtZbtThe formed three-dimensional coordinate system is established based on three accelerometers in the laser strapdown inertial measurement unit.
The method establishes a virtual coordinate system parallel to the accelerometer, and detects the installation error of the rectangular prism by using the virtual coordinate system as a reference, and comprises the following steps:
step 1) establishing a three-dimensional coordinate system O through three accelerometers in a laser strapdown inertial measurement unitbtXbtYbtZbt(ii) a The theoretical situation requires: o of three-dimensional coordinate systembtXbtThe axis is parallel to the right-angle prism mirror surface; o isbtYbtThe axis is parallel to the normal of the right-angle prism surface; o isbtZbtThe axis is parallel to the ridge line of the right-angle prism;
step 2) actually installing the right-angle prism, and actually measuring the installation error value of the right-angle prism;
a: measuring O of rectangular prism around three-dimensional coordinate systembtXbtshaft installation error value Δ α (i.e., α)LJ)；
Step a1) placing four leveling assemblies on a flat plate assembly, and placing a laser strapdown inertial unit on the four leveling assemblies in a mode that a right-angle prism normal is upward; placing an oil container on the flat component;
step a2) adjusting the four leveling components to ensure that the absolute value of the leveling angles of two accelerometers in the laser strapdown inertial measurement unit in the horizontal direction is less than 5', wherein the leveling angles are obtained by reversely deducing output pulses of two horizontal accelerometers;
step a3) placing an autocollimator, emitting a beam of light in the direction from top to bottom of the right-angle prism mirror surface, collimating the autocollimator with the horizontal oil surface of the oil container, aiming the autocollimator at the right-angle prism mirror surface to obtain the reading α of the autocollimator, and thus obtaining the installation error value delta α of the right-angle prism around the X axis of the three-dimensional coordinate system;
b: measuring rectangular prism around three-dimensional coordinate system ObtYbtshaft installation error value Δ β (i.e., β)LJ)；
Step b1) placing the four leveling assemblies on a digital display universal rotary table, and placing the laser strapdown inertial measurement unit on the four leveling assemblies in the upward direction of the ridge line of the right-angle prism;
step b2), adjusting the four leveling components to ensure that the absolute value of the leveling angles of two accelerometers in the laser strapdown inertial measurement unit in the horizontal direction is less than 5';
step b3) placing a theodolite, emitting a beam of light in the direction from left to right or from right to left of the right-angled prism mirror surface, firstly collimating the theodolite by using the mirror surface through the right-angled prism, then locking the horizontal rotation and the pitching of the theodolite, and recording the horizontal image reading β 1 of the theodolite dial at the moment;
and b4) rotating the digital display universal turntable anticlockwise by 25 degrees, recording a horizontal reading β 2 on the theodolite dial at the moment, and dividing the difference value of the β 1 and the β 2 by tg25 degrees to obtain an installation error value delta β of the rectangular prism around the Y axis of the three-dimensional coordinate system.
And the laser strapdown inertial measurement unit performs installation error test on the right-angle prism in a real-time accelerometer leveling state. The method is applied to laser strapdown inertial measurement units of multiple types, the initial alignment result of the product obtained by compensating the installation error of the right-angle prism is basically consistent with the actual true north, the error is in the order of angular seconds, the calibration requirement of high-precision initial alignment is met, the method is correct and feasible, and the precision meets the requirement.
Claims (1)
1. A rectangular prism calibration test method based on an accelerometer coordinate system is characterized by comprising the following steps:
1) establishing a three-dimensional coordinate system through three accelerometers in a laser strapdown inertial measurement unit; the theoretical situation requires: the X axis of the three-dimensional coordinate system is parallel to the mirror surface of the rectangular prism; the Y axis is parallel to the normal of the right-angle prism surface; the Z axis is parallel to the ridge line of the right-angle prism;
2) actually installing a right-angle prism, and actually measuring an installation error value of the right-angle prism;
measuring the installation error value delta α of the rectangular prism around the X axis of the three-dimensional coordinate system;
a1) placing the four leveling components on the flat component, and placing the laser strapdown inertial measurement unit on the four leveling components in a mode that a right-angle prism normal line is upward; placing an oil container on the flat component;
a2) adjusting the four leveling components to ensure that the absolute value of leveling angles of two accelerometers in the laser strapdown inertial measurement unit in the horizontal direction is less than 5', wherein the leveling angles are obtained by reversely deducing output pulses of the two horizontal accelerometers;
a3) placing an autocollimator, emitting a beam of light in the direction from top to bottom on the mirror surface of the right-angle prism, collimating the autocollimator with the horizontal oil surface of the oil container, aiming the autocollimator at the mirror surface of the right-angle prism to obtain the reading α of the autocollimator, and thus obtaining the installation error value delta α of the right-angle prism around the X axis of the three-dimensional coordinate system;
b, measuring an installation error value delta β of the rectangular prism around the Y axis of the three-dimensional coordinate system;
b1) placing the four leveling assemblies on a digital display universal rotary table, and placing a laser strapdown inertial measurement unit on the four leveling assemblies in the upward direction of the ridge line of the right-angle prism;
b2) adjusting the four leveling assemblies to ensure that the absolute value of the leveling angles of two accelerometers in the laser strapdown inertial measurement unit in the horizontal direction is less than 5';
b3) placing a theodolite, emitting a beam of light in the direction from left to right or from right to left of the right-angled prism mirror surface, firstly collimating the theodolite by using the mirror surface of the right-angled prism, then locking the horizontal rotation and pitching of the theodolite, and recording the horizontal image reading β 1 of the theodolite dial at the moment;
b4) and the digital display universal turntable rotates anticlockwise by 25 degrees, the horizontal reading β 2 on the theodolite dial at the moment is recorded, and the installation error value delta β of the rectangular prism around the Y axis of the three-dimensional coordinate system is obtained by dividing the difference value of the β 1 and the β 2 by tg25 degrees.
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| CN108020243B (en) * | 2017-12-06 | 2021-02-09 | 北京航天计量测试技术研究所 | Prism installation parameter calibration method based on carrier rolling |
| CN108871649B (en) * | 2018-08-14 | 2020-07-14 | 坤维（北京）科技有限公司 | Method for establishing reference coordinate system |
| CN112697171B (en) * | 2020-12-16 | 2023-03-28 | 湖南航天机电设备与特种材料研究所 | Leveling angle testing method and system |
| CN112882928B (en) * | 2021-02-02 | 2023-03-31 | 中国汽车技术研究中心有限公司 | Automatic testing method and system for touch screen of intelligent cabin of automobile |
| CN115790590B (en) * | 2023-02-09 | 2023-05-23 | 西安航天精密机电研究所 | Dynamically adjustable high-precision inertial navigation and right-angle prism system and adjusting method thereof |
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| CN104697747A (en) * | 2014-12-19 | 2015-06-10 | 北京兴华机械厂 | Method for detecting optical alignment prism mounting accuracy deviation calibration of platform system |
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| JP5003769B2 (en) * | 2010-01-18 | 2012-08-15 | 株式会社Ｊｖｃケンウッド | Imaging apparatus and image shake correction method |
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| CN103759743A (en) * | 2014-01-29 | 2014-04-30 | 西安航天精密机电研究所 | Azimuth benchmark transmission device for inertia measuring device and azimuth confirming method for inertia measuring device with large inclination angle |
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