CN106949909A - A kind of gyro calibiatio i system and method based on astronomical azimuth - Google Patents
A kind of gyro calibiatio i system and method based on astronomical azimuth Download PDFInfo
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- CN106949909A CN106949909A CN201710260011.7A CN201710260011A CN106949909A CN 106949909 A CN106949909 A CN 106949909A CN 201710260011 A CN201710260011 A CN 201710260011A CN 106949909 A CN106949909 A CN 106949909A
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- gyroscope
- azimuth
- theodolite
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- angle
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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 present invention relates to the technical field of gyro calibiatio i, disclose a kind of gyro calibiatio i system based on astronomical azimuth, gyroscope arranging device including astronomical observation pier, parallel light tube and on astronomical observation pier and parallel light tube line, gyroscope arranging device is adjusted at any angle for placing gyroscope to be calibrated, and can realize that gyroscope to be calibrated is done in the horizontal plane.Also disclose a kind of gyro calibiatio i method based on astronomical azimuth, including by theodolite or under the optical centre of hanging gyrotheodolite and the mark of backlight Turbogrid plates make centering adjustment the step of；And by gyroscope to be calibrated or under the azimuth of hanging gyrotheodolite measurement compared with the astronomical azimuth residing for zero degree azimuth or parallel light tube, and the step of determine.The present invention, with reference to centering adjustment, improves the accuracy of calibration by the astronomical azimuth of parallel light tube.
Description
Technical field
The invention belongs to the technical field of gyro calibiatio i, and in particular to a kind of gyro calibiatio i based on astronomical azimuth
System and method.
Background technology
Gyroscope is a kind of angular movement detection means, on earth can be under the collective effect of gravity and rotation power, accurately
Ground indicates real north.Gyroscope is divided into by observing and controlling different principle：Piezoelectric gyroscope, micro-mechanical gyroscope, fibre optic gyroscope, swash
Optical gyroscope etc..Gyroscope is a kind of independent of outer signals, the sensing instrument that can be worked independently.It is widely used in motion
The attitude and flight tracking control of object, are the critical equipments of the navigation and control of rocket, aircraft, ship and vehicle.Due to gyroscope
Limited by process manufacturing technology, it, which is exported, azimuthal all has different degrees of deviation of reading, it is necessary to periodically be calibrated.
Astronomical azimuth is using Polaris as natural reference, by observing star place, to determine that the astronomical of ground point is passed through
The measurement work of degree, astronomical latitude or point-to-point transmission astronomical azimuth.The real north value reappeared is not by time, geographical position
Put, environment, be proofread as etc. various factors influence, as long as possessing sight star condition, you can reproduction base value magnitude, therefore with very
High repdocutbility and stability.
China is started in last century the eighties, the research of Beijing Great Wall metrological testing technology in the work of azimuth research field
The accurate V shape groove azimuth apparatus that institute (304 institute) used at that time, because V-groove set-up site can not directly observe Polaris, institute
Using azimuth is introduced from window after refractive power 2 times, to belong to indirect measurement, ± 30 can be met " gyro calibiatio i, for existing
For highest ranking gyroscope ± 5 " in the case of can not be applicable.
Guangzhou City Institute of Measurement Detection Technology was built up in 2010 based on astronomical azimuth gyrotheodolite measurement apparatus,
Azimuth observations result uncertainty U=1 " (k=2).
China institute of metrology established national azimuth apparatus in Changping base in 2012, and azimuth observations result is not
Degree of certainty U95=0.5 ".
Above-mentioned calibration laboratory is currently only used for the calibration of gyrotheodolite, but is based on MEMS gyroscope for measurand
Principle, diameter about 200mm, volume is relatively small, and domestic ship is with gyroscope typically using extremely durable hydraulic pressure electromechanical top
Spiral shell instrument, maximum volume is 550mm × 550mm × 400mm, and bulky, quality reaches 25kg~30kg, fails development pair at present
Its calibration operation to the work space and bearing rotary table system for placing gyroscope sample, it is necessary to redesign.
The content of the invention
The present invention provides a kind of gyro calibiatio i method based on astronomical azimuth, solves the calibration of existing calibration method
Not the problem of precision does not reach actual requirement.
The present invention can be achieved through the following technical solutions：
A kind of gyro calibiatio i system based on astronomical azimuth, including：Astronomical observation pier, parallel light tube and positioned at institute
The gyroscope arranging device on astronomical observation pier and parallel light tube line is stated, the gyroscope arranging device is used to place to be calibrated
Gyroscope, and can realize that gyroscope to be calibrated is done in the horizontal plane and adjust at any angle.
Further, the gyroscope arranging device includes theodolite erecting bed, the gyro being coaxially disposed successively from top to bottom
Instrument panoramic table, angle-adjusting mechanism and supporting mechanism, the theodolite erecting bed are used to install theodolite, the gyroscope revolution
Platform is used to place gyroscope to be calibrated, and the angle-adjusting mechanism is used to realize that gyroscope panoramic table is done arbitrarily in the horizontal plane
The adjustment of angle, the supporting mechanism is used to support gyroscope panoramic table.
Further, the angle-adjusting mechanism includes rotating disk, and the rotating disk is provided with inner disc and external disk from inside to outside, described
Inner disc and external disk are coaxially disposed and external disk is rotated relative to inner disc, and the inner disc is arranged on pedestal, and the gyroscope panoramic table leads to
Cross spacer ring to be arranged in external disk, the pedestal is arranged on the top surface of supporting mechanism by fixed plate, the fixed plate is arranged on branch
The top surface of support mechanism, the side of the external disk is provided with occlusion retaining mechanism, and the occlusion retaining mechanism is used to finely tune and lock
The rotational angle of external disk, the pedestal, the center of inner disc are provided with through hole, and their longitudinal center line and supporting mechanism,
The longitudinal center line of gyroscope panoramic table is conllinear.
Further, the occlusion retaining mechanism includes C-type clamp, the C-type clamp include side wall and c-opening upper plate, under
Plate, c-opening is stuck in outer disc edge, and the bottom of the side wall is arranged in fixed plate by connecting plate, the c-opening it is upper
Plate and lower plate are provided centrally with clamping screw, and the clamping screw is used for the size for adjusting c-opening, the side of the C-type clamp
Wall is vertically installed with micro-adjusting mechanism, and the external disk that the micro-adjusting mechanism is used to adjust after C-type clamp occlusion does circumferential fine motion.
Further, one end of the clamping screw is fixedly connected with the lower plate of c-opening, and the other end is provided with external screw thread,
It is threadedly coupled with the upper plate of c-opening.
Further, the micro-adjusting mechanism includes fine motion screw rod, and one end of the fine motion screw rod passes through starting stave and C-type clamp
The one side of side wall be in contact, the fine motion screw rod and starting stave are coordinated by screw thread to be rotated, and the starting stave is fixed and set
Put on the side of connecting plate,
The another side of the side wall of the C-type clamp is provided with by lever, the side wall by one end of lever and C-type clamp it is another
Simultaneously it is connected, the other end passes through the mesopore of the second riser, but the second riser of discord is in contact, and its top is provided with disk block, institute
State disk block with spring one end to be connected, the other end of spring is connected with gland, the gland is set on second by support and erected
On plate, the support is set on spring and the periphery by one end with disk block of lever, and one end of the support set is set
On the second riser, the other end is connected with gland, and second riser is fixedly installed on the opposite side of connecting plate, the disk block
Diameter be less than support set internal diameter.
Further, the supporting mechanism uses hollow structure, and bottom centre is provided with backlight Turbogrid plates, the backlight grid
Plumb point mark is provided with plate, the plumb point is a little in backlight Turbogrid plates on astronomical observation pier and parallel light tube line
Intersection point, the longitudinal center line weight of point and the line of intersection point and gyroscope arranging device and.
Further, the gyroscope panoramic table includes upper platen and lower platen, one between the upper platen and lower platen
Relative both sides are uniformly arranged multiple montants, and the lower platen bottom surface is arranged on angle-adjusting mechanism, and the upper platen is with
The center of platen is provided with through hole, and the theodolite erecting bed releasably can be arranged on the top surface of upper platen, it is described on
The gyro portion that the through hole of platen can accommodate down hanging gyrotheodolite passes through.
Further, the theodolite erecting bed is from top to bottom disposed with mounting disc and intermediate tray, the mounting disc
For installing theodolite, the intermediate tray is arranged on gyroscope panoramic table, and the center of the mounting disc and intermediate tray is equal
It is provided with through hole.
A kind of calibration method based on the gyro calibiatio i system described above based on astronomical azimuth, including：Will be through
Latitude instrument is placed on theodolite erecting bed, and the mark of the optical centre of theodolite and the backlight Turbogrid plates of supporting mechanism bottom is done
Centering is adjusted；
Or the gyro portion of hanging gyrotheodolite passes through the through hole of the upper platen of gyro panoramic table by under, is arranged on gyro
On panoramic table, the mark of the optical centre in the theodolite portion of hanging gyrotheodolite and the backlight Turbogrid plates of supporting mechanism bottom by under
It is denoted as the step of centering is adjusted；
And by gyroscope to be calibrated or under the measurement of hanging gyrotheodolite azimuth and true north be zero degree side
Parallactic angle or the residing astronomical azimuth of parallel light tube compare, and the step of determine.
Further, the azimuth of the measurement and true north are that zero degree azimuth is compared and comprised the following steps：
Step I, the cross light target in the aiming portion of theodolite aimed at into the cross light target in parallel light tube, then will be to be calibrated
Gyroscope be placed in gyroscope panoramic table, and do horizontal adjustment；Or by under the theodolite portion of hanging gyrotheodolite
Cross light target in aiming portion aims at the cross light target in parallel light tube；
Step II, using angle-adjusting mechanism and theodolite or under hanging gyrotheodolite theodolite portion, by gyro
Instrument panoramic table rotates the orientation angles residing for parallel light tube, but direction is stung with the azimuth residing for parallel light tube on the contrary, recycling
Retaining mechanism fine setting is closed, and locks the angle of rotation；
Step III, by gyroscope to be calibrated or under the measurement of hanging gyrotheodolite azimuth and true north be zero degree
Azimuth is compared.
Further, the azimuth of the measurement is compared with the residing astronomical azimuth of parallel light tube and comprised the following steps：
Step 1: gyroscope to be calibrated is placed in gyroscope panoramic table, and horizontal adjustment is done, recycle angle to adjust
Whole mechanism rotates gyroscope panoramic table, is finely tuned with reference to occlusion retaining mechanism, the azimuth for measuring gyroscope to be calibrated
For zero degree azimuth；
Or rotated gyroscope panoramic table using angle-adjusting mechanism, finely tuned with reference to occlusion retaining mechanism, make lower extension
The azimuth of formula gyrotheodolite measurement is zero degree azimuth；
Step 2: rotated gyroscope panoramic table using angle-adjusting mechanism, finely tuned with reference to occlusion retaining mechanism, make through
Latitude instrument or under hanging gyrotheodolite theodolite portion aiming portion in cross light target aim at parallel light tube in cross light
Target；
Step 3: by gyroscope to be calibrated or under the measurement of hanging gyrotheodolite azimuth and the institute of parallel light tube
The astronomical azimuth at place is compared.
The present invention is beneficial to be had technical effect that：
By the coaxial design and the via design at center of each part of device, make the line of astronomical observation pier and parallel light tube
On point easily can do plumb point mark on the backlight Turbogrid plates of bottom of device, it is possible in the optics for realizing theodolite
The heart does centering adjustment with plumb point mark.
By the internal and external disks of the coaxial nested designs of angle-adjusting mechanism and it is arranged on the occlusion retaining mechanism of outer disc edge,
It can realize that any angle of the gyroscope to be measured on gyroscope panoramic table is rotated, detachable with reference to theodolite erecting bed is set
Meter, realizes the calibration operation to a variety of high accuracy gyroscope instrument, improves the accuracy of calibration.
Brief description of the drawings
Fig. 1 is the general illustration of the calibration system of the present invention；
Fig. 2 is the schematic perspective view of the gyroscope arranging device of the present invention；
Fig. 3 is adjustment detent mechanism general illustration of the invention；
Fig. 4 is the general illustration of the angle-adjusting mechanism of the present invention；
Fig. 5 for the present invention occlusion retaining mechanism general illustration, remove connecting plate, starting stave, the second riser and
Support set；
Fig. 6 is the structural representation of the theodolite erecting bed of the present invention；
Fig. 7 removes the structural representation of top tray for the theodolite erecting bed of the present invention；
Fig. 8 is the overview flow chart of the calibration method of the present invention；
Fig. 9 is the flow chart of the centering method of adjustment of the present invention；
Wherein, 1- determines before and after adjusting detent mechanism, 11- low bottom-discs, 12- top bottom-discs, 13- first levels adjustment bolt, 14-
Position bolt, 15- ears, 16- risers, 17- screwed holes；2- spiral knees, 21- threaded posts, 22- screwed pipes, 23- rotation hands
Handle；3- angle-adjusting mechanisms, 31- inner discs, 32- external disks, 33- pedestals, 34- spacer rings, 35- fixed plates, 36- occlusion retaining mechanism,
37- extension springs, the horizontal adjusting bolts of 38- second, 3601-C types folder, 3602- clamping screws, 3603- lower plates, 3604- upper plates,
3605- connecting plates, 3606- fine motions screw rod, 3607- starting staves, 3608- are by lever, the portraits of 3609- second, 3610- disks
Block, 3611- springs, 3612- glands, 3613- support sets；4- gyroscopes panoramic table, 41- upper platens, 42- lower platens, 43- are erected
Bar, 44- all around adjustment bolt；5- theodolites erecting bed, 51- top trays, 52- sliding blocks, 53- lower trays, 54- mounting discs,
Adjustment bolt, 56- or so adjustment bolt before and after 55-.
Embodiment
Below in conjunction with the accompanying drawings and preferred embodiment describe in detail the present invention embodiment.
As shown in figure 1, the invention provides a kind of gyro calibiatio i system based on astronomical azimuth, the system includes：
Astronomical observation pier, parallel light tube and the gyroscope arranging device on astronomical observation pier and parallel light tube line, the gyro
Instrument arranging device is used to place gyroscope to be calibrated, and can realize that gyroscope to be calibrated does any angle in the horizontal plane
Adjustment.
As shown in Fig. 2 the gyroscope arranging device includes adjustment detent mechanism 1, the spiral shell being coaxially disposed successively from bottom to top
Revolve lifting platform 2, angle-adjusting mechanism 3, gyroscope panoramic table 4 and theodolite erecting bed 5, the adjustment detent mechanism 1 and spiral liter
Drop platform 2 is referred to as supporting mechanism, and the theodolite erecting bed 5 can be releasably arranged on gyroscope panoramic table 4.
The angle-adjusting mechanism 3 is rotated at any angle for realizing that gyroscope panoramic table 4 is done in the horizontal plane, the spiral
Lifting platform 2 is used to realize moving up and down for gyroscope panoramic table 4, and the gyroscope panoramic table 4 is used to place gyroscope to be calibrated,
The theodolite erecting bed 5 is used to install and all around moves theodolite, at the adjustment detent mechanism 1, spiral knee 2, angle
Through hole is provided with the longitudinal center line of degree adjustment mechanism 3, gyroscope panoramic table 4 and theodolite erecting bed 5, in adjustment positioning
Light source is provided with the bottom through-hole of mechanism 1, facilitates the installation of device, and ensures the reliability of test.
As shown in figure 3, adjustment detent mechanism 1 includes the low bottom-disc 11 fixed on the ground and is arranged on low bottom-disc 11
Top bottom-disc 12, eight first level adjustment bolts 13 and four front and rear bolts are evenly arranged with along the circumference of top bottom-disc 12
14, these first level adjustment bolts 13 and front and rear bolt 14 are in cross arrangement, and each end is provided with two the first water
Flat adjustment bolt 13 and a front and rear bolt 14, first level adjustment bolt 13 are used to adjust with adjusting the phase of detent mechanism 1
The top surface level of spiral knee 2 even, front and rear bolt 14 is used to adjust with adjusting the spiral lifting that detent mechanism 1 is connected
Movable, the top bottom-disc 12 and low bottom-disc 11 is coaxially disposed and center is provided with through hole of platform 2, in the through hole of low bottom-disc 11
It is additionally provided with backlight Turbogrid plates.
The position of bolt 14 is provided with long lumbar hole before and after correspondence on top bottom-disc 12, the length direction of the long lumbar hole
Towards unanimously, front and rear bolt 14 is arranged in long lumbar hole.
On top bottom-disc 12 along long lumbar hole width two ends, be each provided with two ears straight up
15, the position of each ear 15 of correspondence top bottom-disc 12 is provided with riser 16 on low bottom-disc 11, and riser 16 and ear 15 are separated by
Certain distance, and screwed hole 17 is provided with, riser 16 is connected by screw rod through screwed hole 17 with corresponding ear 15.
As shown in Fig. 2 spiral knee 2 includes the threaded post 21 and screwed pipe 22 of mutually nested cooperation, threaded post 21 is set
External screw thread is equipped with, inside uses hollow structure, and top is provided with angle-adjusting mechanism 3, and bottom is arranged on adjustment detent mechanism 1
On, screwed pipe 22 is provided with internal thread, and periphery top is circumferentially evenly arranged with four rotary handles 23, by the horizontal plane
The rotary handle 23 is rotated successively, just threaded post 21 can be screwed out or precession screwed pipe 22.
As shown in figure 4, angle-adjusting mechanism 3 includes rotating disk, the rotating disk is provided with inner disc 31 and external disk 32 from inside to outside, should
Inner disc 31 and external disk 32 are coaxially disposed and external disk 32 is rotated relative to inner disc 31, and inner disc 31 is arranged on pedestal 33, gyroscope revolution
Platform 4 is arranged in external disk 32 by spacer ring 34, and pedestal 33 is arranged on the top surface of spiral knee 3, fixed plate by fixed plate 35
35 are arranged on the top surface of spiral knee 3, and the side of external disk 32 is provided with occlusion retaining mechanism 36, and the occlusion retaining mechanism 36 is used
In the rotational angle for finely tuning and locking external disk 32.
As shown in Figures 4 and 5, occlusion retaining mechanism 36 includes C-type clamp 3601, and the C-type clamp 3601 includes side wall and c-opening
Upper plate, lower plate, c-opening is stuck in the edge of external disk 32, and the upper plate of c-opening and lower plate are provided centrally with clamping screw
3602, the clamping screw 3602 is used for the size for adjusting c-opening, and its one end is fixedly connected with the lower plate 3603 of c-opening, separately
One end is provided with external screw thread, is threadedly coupled with the upper plate 3604 of c-opening.
The bottom of the side wall of C-type clamp 3601 is arranged in fixed plate 35 by connecting plate 3605, and side wall is vertically installed with fine setting
Mechanism, the external disk 32 that the micro-adjusting mechanism is used to adjust after the occlusion of C-type clamp 3601 does circumferential fine motion.
The micro-adjusting mechanism includes fine motion screw rod 3606, and one end of fine motion screw rod 3606 passes through starting stave 3607 and C-type clamp
The one side of 3601 side wall is in contact, and fine motion screw rod 3606 and starting stave 3607 coordinate rotation, starting stave by screw thread
3607 are fixedly installed on the side of connecting plate 3605, and the another side of the side wall of C-type clamp 3601 is provided with by lever 3608, passively
One end of bar 3608 is connected with the another side of the side wall of C-type clamp 3601, and the other end passes through the mesopore of the second riser 3609, but discord
Second riser 3609 is in contact, and its top is provided with disk block 3610, and disk block 3610 is connected with the one end of spring 3611, spring
3611 other end is connected with gland 3612, and gland 3612 is arranged on the second riser 3609 by support set 3613, support set
3613 are arranged on spring 3611 and the periphery by one end with disk block 3610 of lever 3608, and one end of support set 3613 is set
On the second riser 3609, the other end is connected with gland 3612, and the opposite side of connecting plate 3605 is fixedly installed in the second riser 3609
On, the diameter of disk block 3610 is less than the internal diameter of support set 3613.
Horizontal adjusting mechanism is provided between fixed plate 35 and pedestal 33, the horizontal adjusting mechanism is used to adjust to be adjusted with angle
The top surface level of the connected gyroscope panoramic table 4 of whole mechanism 3, the horizontal adjusting mechanism includes being uniformly arranged along fixed plate 35 is circumferential
Multiple extension springs 37 and the second horizontal adjusting bolt 38 between fixed plate 35 and pedestal 33, the second horizontal adjusting bolt wear 38 mistakes
The bottom surface of fixed plate 35 and pedestal 33 is in contact, the top surface for adjusting the gyroscope panoramic table 4 being connected with angle-adjusting mechanism 3
Level, one end of extension spring 37 is connected the top surface of plate 35, and the other end connects the bottom surface of pedestal 33, and the extension spring 37 is in angle adjustment machine
Formation is certain between structure 3 and spiral knee 2 is flexible coupling, and prevents when doing horizontal adjustment to gyroscope panoramic table 4 occurring wrong
Position.
Fixed plate 35, pedestal 33, the center of inner disc 31 are provided with through hole, and their longitudinal center line and spiral lifting
Platform 2, gyroscope panoramic table 4 longitudinal center line it is conllinear.
As shown in Fig. 2 gyroscope panoramic table 4 includes the upper platen 41 and lower platen 42 being parallel to each other, upper platen 41 is with
A relative both sides are uniformly arranged multiple montants 43 between platen 42, and another relative both sides uses open by design,
Any obstruction is not increased.The bottom surface of lower platen 42 is arranged on angle-adjusting mechanism 3, the center of upper platen 41 and lower platen 42
Through hole is provided with, theodolite erecting bed 5 can be releasably arranged on the top surface of upper platen 41, and the through hole of upper platen 41 can
The gyro portion of hanging gyrotheodolite passes through under receiving, and four are circumferentially evenly arranged with all around along through hole on upper platen 41
Adjustment bolt 44, hanging gyrotheodolite all around moves under can adjust using adjustment bolt 44 all around.
The inside dimension of the gyroscope panoramic table 4 is no more than 500mm*400mm*400mm, but is due to that its open sets
Meter so that this gyroscope panoramic table 4 can accommodate gyroscope peculiar to vessel, and then can be calibrated to the gyroscope of this type, in addition
Polytype gyroscope such as gyrotheodolite, MEMS gyroscope can also be calibrated.
As shown in Figures 6 and 7, theodolite erecting bed 5 includes from top to bottom being disposed with the top tray 51 of mutual cooperation, slided
Block 52 and lower tray 53, the center of top tray 51, sliding block 52 and lower tray 53 are provided with through hole, and the top surface of top tray 51 is provided with
Mounting disc 54, bottom surface is provided with the first track, and mounting disc 54 is used to install theodolite；The top surface of lower tray 53 is provided with the second rail
Road, bottom surface is arranged on gyroscope panoramic table 4, and the first track and the second track are mutually perpendicular to, and sliding block 52 can be in the first track
Moved with the second track, a front and rear adjustment bolt 55 is each provided with both sides of the sliding block 52 along the second orbital direction, is passed through
Front and rear adjustment bolt 55 makes sliding block 52 be moved along the second orbital direction, is respectively set in both sides of the top tray 51 along the first orbital direction
There is one or so adjustment bolt 56, top tray 51 is moved along the first orbital direction by left and right adjustment bolt 56, so pass through
Front and rear adjustment bolt 55 and left and right adjustment bolt 56 can adjust all around moving for the theodolite in mounting disc 54.
As shown in figure 8, present invention also offers a kind of gyro calibiatio i method based on astronomical azimuth, including following step
Suddenly：
Step 1: theodolite is placed on theodolite erecting bed 5, by the optical centre of theodolite and adjustment detent mechanism
The mark of the backlight Turbogrid plates of 1 bottom does centering adjustment；
Or the gyro portion of hanging gyrotheodolite passes through the through hole of the upper platen 41 of gyro panoramic table 4 by under, is arranged on
On gyro panoramic table 4, the backlight of the optical centre in the theodolite portion of hanging gyrotheodolite and adjustment detent mechanism 1 bottom by under
The mark of Turbogrid plates makees centering adjustment；
Step 2: by gyroscope to be calibrated or under the measurement of hanging gyrotheodolite azimuth and true north be zero degree
The residing astronomical azimuth of azimuth or parallel light tube compares, and the step of determine.
As shown in figure 9, wherein centering adjustment comprises the following steps：
Step I, spiral knee 2 is adjusted to required height, on the upper plate 12 for being arranged on adjustment detent mechanism 1, pine
The screw rod through ear 15 on the front and rear bolt 14 of upper plate 12, adjustment lower shoe 11 is opened, is made in screw thread lifting platform 2
The center of the heart and the backlight Turbogrid plates of lower shoe 11 is substantially aligned, then front and rear bolt 14 is locked；
Step II, tripod is adjusted to required height, is arranged on the top of spiral knee 2, then theodolite is fixed
On tripod, the optical centre of theodolite is set to set on the line of parallel light tube and astronomical observation pier, adjustment theodolite
Associated components, make its vertical pivot vertical, and project on the backlight Turbogrid plates of lower shoe 11 of adjustment detent mechanism 1, read standard of hanging down
Rectangular co-ordinate position of the point on grid, while plumb point is made marks on grid rectangular co-ordinate face with superfine pen；
Step III, adjustment first level adjustment bolt 13, make the top surface level of spiral knee 2；
Step VI, angle-adjusting mechanism 3 is arranged on spiral knee 2, then gyroscope panoramic table 4 is arranged on angle
On adjustment mechanism 3, by adjusting the second horizontal adjusting bolt 38, make the level of upper platen 41 of gyroscope panoramic table 4；
Step V, theodolite erecting bed 5 is arranged on gyroscope panoramic table 4, then theodolite is arranged on theodolite peace
Fill on platform 5, by adjusting left and right adjustment bolt 56 and front and rear adjustment bolt 55, make the optical centre and backlight Turbogrid plates of theodolite
On plumb point mark centering；
Or step V, by under hanging gyrotheodolite gyro portion through gyro panoramic table 4 upper platen 41 on through hole,
Be arranged on gyro panoramic table 4, by adjustment all around adjustment bolt 44, under making the optical centre of hanging gyrotheodolite and
Plumb point mark centering on backlight Turbogrid plates.
It is that zero degree azimuth is compared and comprised the following steps wherein by the azimuth of measurement and true north：
Step I, the cross light target in the aiming portion of theodolite aimed at into the cross light target in parallel light tube, then will be to be calibrated
Gyroscope be placed in the gyroscope panoramic table 4 of calibrating installation, and do horizontal adjustment；Or by under hanging gyrotheodolite
Cross light target in the aiming portion in theodolite portion aims at the cross light target in parallel light tube；
Step II, using angle-adjusting mechanism 3 and theodolite or under hanging gyrotheodolite theodolite portion by gyro
Instrument panoramic table 4 rotates the astronomic azimuth angle residing for parallel light tube, but the azimuth residing for direction and parallel light tube is on the contrary, sharp again
Finely tuned with occlusion retaining mechanism, and lock the angle of rotation；
Step III, by gyroscope to be calibrated or under the measurement of hanging gyrotheodolite azimuth and true north be zero degree
Azimuth is compared.
Wherein the azimuth of measurement is compared with the astronomical azimuth residing for parallel light tube and comprised the following steps：
1., by gyroscope to be calibrated step is placed in gyroscope panoramic table 4, and does horizontal adjustment, recycles angle
Adjustment mechanism 3 rotates gyroscope panoramic table 4, is finely tuned with reference to occlusion retaining mechanism 36, makes the orientation of gyroscope to be calibrated
Angle is zero degree azimuth；
Or rotated gyroscope panoramic table 4 using angle-adjusting mechanism 3, finely tune, make with reference to occlusion retaining mechanism 36
Under the azimuth of hanging gyrotheodolite measurement be zero degree orientation；Angle
2., using the angle-adjusting mechanism 3 of calibrating installation step rotates gyroscope panoramic table 4, with reference to occlusion locking machine
Structure is finely tuned, make theodolite or under hanging gyrotheodolite theodolite portion aiming portion in cross light target aim at directional light
Cross light target in pipe；
Step 3., by gyroscope to be calibrated or under the measurement of hanging gyrotheodolite azimuth and the institute of parallel light tube
The astronomical azimuth at place is compared.
The present invention makes theodolite by the via design of the coaxial design, horizontal adjustment design and center of each part of device
Optical centre easily can be made marks on the backlight Turbogrid plates of bottom of device, improve calibration efficiency.
By the internal and external disks of the coaxial nested designs of angle-adjusting mechanism and it is arranged on the occlusion retaining mechanism of outer disc edge,
It can realize that any angle of the gyroscope to be measured on gyroscope panoramic table is rotated, with reference to the design for disassembly of theodolite erecting bed
And the open by design of gyroscope panoramic table, the calibration operation to a variety of high accuracy gyroscope instrument is realized, the accuracy of calibration is improved.
In addition, by the astronomical azimuth of parallel light tube, with reference to centering adjustment, improving the accuracy of calibration.
Although the foregoing describing the embodiment of the present invention, it will be appreciated by those of skill in the art that these
It is merely illustrative of, on the premise of the principle and essence without departing substantially from the present invention, a variety of changes can be made to these embodiments
More or modification, therefore, protection scope of the present invention is defined by the appended claims.
Claims (12)
1. a kind of gyro calibiatio i system based on astronomical azimuth, it is characterised in that including：Astronomical observation pier, parallel light tube with
And the gyroscope arranging device on the astronomical observation pier and parallel light tube line, the gyroscope arranging device is for putting
Gyroscope to be calibrated is put, and can realize that gyroscope to be calibrated is done in the horizontal plane and is adjusted at any angle.
2. the gyro calibiatio i system according to claim 1 based on astronomical azimuth, it is characterised in that：The gyroscope
Arranging device includes theodolite erecting bed, gyroscope panoramic table, angle-adjusting mechanism and the branch being coaxially disposed successively from top to bottom
Support mechanism, the theodolite erecting bed is used to install theodolite, and the gyroscope panoramic table is used to place gyroscope to be calibrated,
The angle-adjusting mechanism is adjusted at any angle for realizing that gyroscope panoramic table is done in the horizontal plane, and the supporting mechanism is used
In support gyroscope panoramic table.
3. the gyro calibiatio i system according to claim 2 based on astronomical azimuth, it is characterised in that：The angle is adjusted
Whole mechanism includes rotating disk, and the rotating disk is provided with inner disc and external disk from inside to outside, and the inner disc and external disk are coaxially disposed and external disk
Rotated relative to inner disc, the inner disc is arranged on pedestal, and the gyroscope panoramic table is arranged in external disk by spacer ring, the base
Seat is arranged on the top surface of supporting mechanism by fixed plate, and the fixed plate is arranged on the top surface of supporting mechanism, the side of the external disk
While be provided with occlusion retaining mechanism, the occlusion retaining mechanism is used for the rotational angle for finely tuning and locking external disk, the pedestal, interior
The center of disk is provided with through hole, and the longitudinal center line of their longitudinal center line and supporting mechanism, gyroscope panoramic table is total to
Line.
4. the gyro calibiatio i system according to claim 3 based on astronomical azimuth, it is characterised in that：The occlusion lock
Tight mechanism includes C-type clamp, and the C-type clamp includes upper plate, the lower plate of side wall and c-opening, and c-opening is stuck in outer disc edge, institute
The sidewall bottom for stating C-type clamp is arranged in fixed plate by connecting plate, the upper plate of the c-opening and being provided centrally with for lower plate
Clamping screw, the clamping screw is used for the size for adjusting c-opening, and the side wall of the C-type clamp is vertically installed with micro-adjusting mechanism,
The external disk that the micro-adjusting mechanism is used to adjust after C-type clamp occlusion does circumferential fine motion.
5. the gyro calibiatio i system according to claim 4 based on astronomical azimuth, it is characterised in that：The locking screw
One end of bolt is fixedly connected with the lower plate of c-opening, and the other end is provided with external screw thread, is threadedly coupled with the upper plate of c-opening.
6. the gyro calibiatio i system according to claim 4 based on astronomical azimuth, it is characterised in that：The freqency fine adjustment machine
Structure includes fine motion screw rod, and one end of the fine motion screw rod is in contact through the one side of starting stave and the side wall of C-type clamp, described micro-
Dynamic screw rod and starting stave are coordinated by screw thread to be rotated, and the starting stave is fixedly installed on the side of connecting plate,
The another side of the side wall of the C-type clamp is provided with by lever, described by one end of lever and the another side of the side wall of C-type clamp
It is connected, the other end passes through the mesopore of the second riser, but the second riser of discord is in contact, and its top is provided with disk block, the circle
Disk block is connected with spring one end, and the other end of spring is connected with gland, and the gland is set on the second riser by support,
The support is set on spring and the periphery by one end with disk block of lever, and one end of the support set is arranged on second
On riser, the other end is connected with gland, and second riser is fixedly installed on the opposite side of connecting plate, the diameter of the disk block
Less than the internal diameter of support set.
7. the gyro calibiatio i system according to claim 2 based on astronomical azimuth, it is characterised in that：The support machine
Structure uses hollow structure, and bottom centre, which is provided with backlight Turbogrid plates, the backlight Turbogrid plates, is provided with plumb point mark, described
Plumb point is a little in the intersection point of backlight Turbogrid plates, line and top of the point with intersection point on astronomical observation pier and parallel light tube line
The longitudinal center line of spiral shell instrument arranging device is overlapped.
8. the gyro calibiatio i system according to claim 2 based on astronomical azimuth, it is characterised in that：The gyroscope
Panoramic table includes upper platen and lower platen, and a relative both sides are uniformly arranged multiple perpendicular between the upper platen and lower platen
Bar, the lower platen bottom surface is arranged on angle-adjusting mechanism, and the center of the upper platen and lower platen is provided with through hole, institute
Stating theodolite erecting bed releasably can be arranged on the top surface of upper platen, and the through hole of the upper platen can accommodate down hanging top
The gyro portion of spiral shell theodolite passes through.
9. the gyro calibiatio i system according to claim 2 based on astronomical azimuth, it is characterised in that：The theodolite
Erecting bed is from top to bottom disposed with mounting disc and intermediate tray, and the mounting disc is used to install theodolite, the middle support
Disk is arranged on gyroscope panoramic table, and the center of the mounting disc and intermediate tray is provided with through hole.
10. a kind of calibration method of the gyro calibiatio i system based on astronomical azimuth based on one of described in claim 1-9,
It is characterized in that including：
Theodolite is placed on theodolite erecting bed, by the optical centre of theodolite and the backlight Turbogrid plates of supporting mechanism bottom
Mark do centering adjustment；
Or the gyro portion of hanging gyrotheodolite passes through the through hole of the upper platen of gyro panoramic table by under, gyro revolution is arranged on
On platform, the mark of the optical centre in the theodolite portion of hanging gyrotheodolite and the backlight Turbogrid plates of supporting mechanism bottom is made by under
The step of centering is adjusted；
And by gyroscope to be calibrated or under the measurement of hanging gyrotheodolite azimuth and true north be zero degree azimuth
Or the residing astronomical azimuth of parallel light tube compares, and the step of determine.
11. the gyro calibiatio i method according to claim 10 based on astronomical azimuth, it is characterised in that the measurement
Azimuth and true north be that zero degree azimuth is compared and comprised the following steps：
Step I, the cross light target in the aiming portion of theodolite aimed at into the cross light target in parallel light tube, then by top to be calibrated
Spiral shell instrument is placed in gyroscope panoramic table, and does horizontal adjustment；Or by under the theodolite portion of hanging gyrotheodolite aiming
Cross light target in portion aims at the cross light target in parallel light tube；
Step II, using angle-adjusting mechanism and theodolite or under hanging gyrotheodolite theodolite portion, by gyroscope return
Turntable rotates the orientation angles residing for parallel light tube, but the azimuth residing for direction and parallel light tube is on the contrary, recycle occlusion lock
Tight mechanism fine setting, and lock the angle of rotation；
Step III, by gyroscope to be calibrated or under the measurement of hanging gyrotheodolite azimuth and true north be zero degree orientation
Angle is compared.
12. the gyro calibiatio i method according to claim 10 based on astronomical azimuth, it is characterised in that the measurement
Azimuth compared with the residing astronomical azimuth of parallel light tube and comprised the following steps：
Step 1: gyroscope to be calibrated is placed in gyroscope panoramic table, and horizontal adjustment is done, recycle angle adjustment machine
Structure rotates gyroscope panoramic table, is finely tuned with reference to occlusion retaining mechanism, the azimuth for measuring gyroscope to be calibrated is zero
Spend azimuth；
Or rotated gyroscope panoramic table using angle-adjusting mechanism, finely tuned with reference to occlusion retaining mechanism, hanging top under making
The azimuth of spiral shell transit survey is zero degree azimuth；
Step 2: being rotated gyroscope panoramic table using angle-adjusting mechanism, finely tuned with reference to occlusion retaining mechanism, make theodolite
Or under hanging gyrotheodolite theodolite portion aiming portion in cross light target aim at parallel light tube in cross light target；
Step 3: by gyroscope to be calibrated or under the measurement of hanging gyrotheodolite azimuth and parallel light tube residing for
Astronomical azimuth is compared.
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| CN201710260011.7A CN106949909B (en) | 2017-04-20 | 2017-04-20 | Gyroscope calibration system and method based on astronomical azimuth angle |
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| CN107389025A (en) * | 2017-08-30 | 2017-11-24 | 国网山东省电力公司昌乐县供电公司 | Theodolite stand |
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| CN109470275A (en) * | 2018-12-17 | 2019-03-15 | 中国科学院光电技术研究所 | A kind of electro-optic theodolite high-precision independent orientation method at motor-driven cloth station |
| CN111854800A (en) * | 2020-07-27 | 2020-10-30 | 西安航光仪器厂 | Gyro north seeker constant self-calibration and drift amount detection device and detection method thereof |
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| CN114235004A (en) * | 2021-11-16 | 2022-03-25 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Atomic gyroscope axial azimuth angle measuring device and method based on double theodolites |
| CN114235004B (en) * | 2021-11-16 | 2023-08-08 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Atomic gyroscope axial azimuth angle measuring device and method based on double theodolites |
| CN114211429A (en) * | 2021-12-30 | 2022-03-22 | 武汉武船计量试验有限公司 | Clamping tool |
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