CN106949909A - A kind of gyro calibiatio i system and method based on astronomical azimuth - Google Patents

Abstract

The invention relates to the technical field of gyroscope calibration, and discloses a gyroscope calibration system based on astronomical azimuth, including an astronomical observation pier, a collimator, and a gyroscope installation device located on the connection line between the astronomical observation pier and the collimator, The gyroscope placement device is used for placing the gyroscope to be calibrated, and can realize the adjustment of the gyroscope to be calibrated at any angle on the horizontal plane. Also disclosed is a gyroscope calibration method based on astronomical azimuth, including the steps of centering and adjusting the optical center of the theodolite or the gyroscope theodolite hung below and the mark on the backlight grid plate; The azimuth angle measured by the type gyro theodolite is compared with the azimuth angle of zero degree or the astronomical azimuth angle of the collimator, and the steps of making a judgment are made. The invention improves the calibration accuracy by means of the astronomical azimuth angle of the collimator combined with the centering adjustment.

Description

A gyroscope calibration system and method based on astronomical azimuth

technical field

The invention belongs to the technical field of gyroscope calibration, and in particular relates to a gyroscope calibration system and method based on astronomical azimuth.

Background technique

A gyroscope is an angular motion detection device that can accurately indicate the direction of true north under the combined action of gravity and rotation force on the earth. According to different principles of measurement and control, gyroscopes are divided into: piezoelectric gyroscopes, micromechanical gyroscopes, fiber optic gyroscopes, laser gyroscopes, etc. A gyroscope is a pointing instrument that does not depend on external signals and can work independently. Widely used in attitude and track control of moving objects, it is a key instrument for navigation and control of rockets, aircraft, ships and vehicles. As the gyroscope is limited by the manufacturing technology, its output azimuth angle has different degrees of indication deviation, which needs to be calibrated regularly.

The astronomical azimuth takes Polaris as a natural reference, and by observing the positions of the stars, it is used to determine the astronomical longitude, astronomical latitude or astronomical azimuth between two points on the ground. The reproduced true north vector value is not affected by various factors such as time, geographical location, environment, and school objects. As long as the stargazing conditions are met, the reference value can be reproduced, so it has high reproducibility and stability.

my country's work in the field of azimuth angle research started in the 1980s. The precision V-groove azimuth device used by the Beijing Great Wall Metrology and Testing Technology Institute (304 Institute) at that time, because the V-groove was installed in a place where the Polaris could not be directly observed, it was adopted. The azimuth angle is introduced from the window after refraction twice, which belongs to indirect measurement and can meet the gyroscope calibration of ±30″, but it is no longer applicable to the condition of ±5″ of the highest modern gyroscope.

In 2010, Guangzhou Institute of Metrology and Inspection Technology built a measuring device based on astronomical azimuth gyro theodolite, and the uncertainty of azimuth measurement results is U=1″(k=2).

The Chinese Academy of Metrology established a national azimuth device at the Changping base in 2012, and the uncertainty of the azimuth measurement results is U ₉₅ =0.5″.

The above-mentioned calibration laboratory is currently only used for the calibration of the gyro theodolite, but the measured object is based on the MEMS gyroscope principle, with a diameter of about 200mm and a relatively small volume. The domestic ship gyroscope generally uses an extremely durable hydraulic electromechanical gyroscope. The volume is 550mm×550mm×400mm, the volume is huge, and the mass reaches 25kg~30kg. At present, the calibration work has not been carried out, and the workbench space and load-bearing turntable system for placing gyroscope samples need to be redesigned.

Contents of the invention

The invention provides a gyroscope calibration method based on astronomical azimuth, which solves the problem that the calibration accuracy of the existing calibration method cannot meet the actual requirements.

The present invention can be realized through the following technical solutions:

A gyroscope calibration system based on astronomical azimuth, comprising: an astronomical observation pier, a collimator, and a gyroscope installation device located on the connection line between the astronomical observation pier and the collimator, and the gyroscope installation device is used to place The gyroscope to be calibrated can realize the adjustment of the gyroscope to be calibrated at any angle on the horizontal plane.

Further, the gyroscope installation device includes a coaxial theodolite mounting table, a gyroscope turntable, an angle adjustment mechanism and a supporting mechanism from top to bottom, the theodolite mounting table is used to install the theodolite, and the gyroscope turntable It is used to place the gyroscope to be calibrated, the angle adjustment mechanism is used to adjust the gyroscope turntable at any angle on the horizontal plane, and the supporting mechanism is used to support the gyroscope turntable.

Further, the angle adjustment mechanism includes a turntable, the turntable is provided with an inner disk and an outer disk from the inside to the outside, the inner disk and the outer disk are coaxially arranged and the outer disk rotates relative to the inner disk, the inner disk is arranged on the base, and the gyroscope rotates The platform is arranged on the outer disk through the spacer ring, the base is arranged on the top surface of the support mechanism through the fixed plate, the fixed plate is arranged on the top surface of the support mechanism, and the side of the outer disk is provided with a snap-lock mechanism, so The occlusal locking mechanism is used to fine-tune and lock the rotation angle of the outer disc. The centers of the base and the inner disc are provided with through holes, and their axial centerlines are in common with the axial centerlines of the supporting mechanism and the gyro turntable. Wire.

Further, the snap-lock mechanism includes a C-shaped clip, the C-shaped clip includes a side wall and an upper plate and a lower plate of a C-shaped opening, and the C-shaped opening is clamped on the edge of the outer disk, and the bottom of the side wall is set through a connecting plate On the fixing plate, the center of the upper plate and the lower plate of the C-shaped opening is provided with locking bolts, the locking bolts are used to adjust the size of the C-shaped opening, and the side wall of the C-shaped clamp is vertically provided with fine-tuning mechanism, and the fine-tuning mechanism is used to adjust the outer disc after the C-shaped clips are engaged to perform circumferential micro-movement.

Further, one end of the locking bolt is fixedly connected to the lower plate of the C-shaped opening, and the other end is provided with an external thread to be threadedly connected to the upper plate of the C-shaped opening.

Further, the fine-tuning mechanism includes a fine-moving screw, one end of the fine-moving screw passes through the first riser and is in contact with one side of the side wall of the C-shaped clip, and the fine-moving screw and the first riser are rotated through thread cooperation , the first vertical plate is fixedly arranged on one side of the connecting plate,

The other side of the side wall of the C-shaped clip is provided with a passive rod, one end of the passive rod is connected to the other side of the side wall of the C-shaped clip, and the other end passes through the middle hole of the second vertical plate, but does not connect with the second vertical plate. The two vertical boards are in contact with each other, and a disk block is arranged on the top end thereof, the disk block is connected with one end of the spring, and the other end of the spring is connected with the gland, and the gland is arranged on the second vertical board through a support sleeve, and the The support sleeve is arranged on the periphery of one end of the spring and the passive rod with the disc block, one end of the support sleeve is arranged on the second vertical plate, and the other end is connected with the gland, and the second vertical plate is fixedly arranged on the connecting plate. On the other side, the diameter of the disk block is smaller than the inner diameter of the support sleeve.

Further, the support mechanism adopts a hollow structure, and a backlight grid plate is provided in the center of the bottom, and a vertical point mark is set on the backlight grid plate, and the vertical point is a point on the line connecting the astronomical observation pier and the collimator. The vertical foot of the backlight grid plate, the connection line between the point and the vertical foot and the axial center line of the gyroscope installation device are combined.

Further, the gyro turntable includes an upper deck and a lower deck, a plurality of vertical rods are uniformly arranged on opposite sides between the upper deck and the lower deck, and the bottom surface of the lower deck is arranged on an angle adjustment mechanism, the The centers of the upper deck and the lower deck are all provided with through holes, and the theodolite mounting table can be detachably arranged on the top surface of the upper deck, and the through holes of the upper deck can accommodate the gyro part of the hanging gyro theodolite to pass through.

Further, the theodolite mounting platform is provided with a mounting plate and an intermediate tray in sequence from top to bottom, the mounting plate is used to install the theodolite, the intermediate tray is arranged on the gyroscope turntable, the center of the mounting plate and the intermediate tray Both are provided with through holes.

A kind of calibration method based on the above-mentioned gyroscope calibration system based on astronomical azimuth, comprising: placing the theodolite on the theodolite mounting platform, aligning the optical center of the theodolite with the mark on the backlight grid plate at the bottom of the support mechanism Medium adjustment;

Or pass the gyro part of the bottom-hanging gyro theodolite through the through hole of the upper plate of the gyro turntable, set it on the gyro turntable, and connect the optical center of the theodolite part of the bottom-hanging gyro theodolite and the backlight grid plate at the bottom of the support mechanism The step of centering and adjusting the marks;

And the step of comparing the azimuth angle measured by the gyroscope to be calibrated or the gyrotheodolite to be calibrated with the true north, that is, the zero-degree azimuth angle or the astronomical azimuth angle of the collimator, and making a decision.

Further, comparing the azimuth angle of the measurement with the true north, that is, zero degree azimuth angle, comprises the following steps:

Step 1. Aim the crosshair target in the collimator of the theodolite at the crosslight target in the collimator, then place the gyroscope to be calibrated in the gyroscope turret, and adjust the level; The crosslight target in the aiming part of the theodolite is aimed at the crosslight target in the collimator;

Step ii. Use the angle adjustment mechanism and the theodolite or the theodolite part of the hanging gyro theodolite to rotate the gyro turntable to the azimuth angle of the collimator, but the direction is opposite to the azimuth of the collimator, and then use the occlusal The locking mechanism is fine-tuned and the angle of rotation is locked;

Step Ⅲ, compare the azimuth angle measured by the gyroscope to be calibrated or the gyrotheodolite with the true north, that is, the zero degree azimuth angle.

Further, comparing the measured azimuth with the astronomical azimuth of the collimator includes the following steps:

Step 1. Place the gyroscope to be calibrated in the gyroscope turret, and adjust the level, then use the angle adjustment mechanism to rotate the gyroscope turret, and make fine adjustments with the occlusal locking mechanism, so that the gyroscope to be calibrated can measure Azimuth is zero degree azimuth;

Or use the angle adjustment mechanism to rotate the gyroscope turret, combined with the occlusal locking mechanism to make fine adjustments, so that the azimuth measured by the bottom-mounted gyro theodolite is zero-degree azimuth;

Step 2. Use the angle adjustment mechanism to rotate the gyroscope turret, and make fine adjustments with the occlusal locking mechanism, so that the crosshair target in the aiming part of the theodolite of the theodolite or the bottom-mounted gyro theodolite is aimed at the crosslight target in the collimator ;

Step 3: Compare the azimuth angle measured by the gyroscope to be calibrated or the gyroscope theodolite to be calibrated with the astronomical azimuth angle of the collimator.

The beneficial technical effects of the present invention are:

With the help of the coaxial design of each part of the device and the design of the through hole in the center, the point on the connection line between the astronomical observation pier and the collimator can be conveniently marked on the backlight grid plate at the bottom of the device, and the theodolite can be realized Adjust the alignment between the optical center and the vertical point mark.

Through the coaxial nesting design of the angle adjustment mechanism, the inner and outer discs and the snap-lock mechanism set on the edge of the outer disc can realize the rotation of the gyroscope to be tested at any angle on the gyro turntable, combined with the detachable design of the theodolite mounting platform, Realize the calibration of various high-precision gyroscopes and improve the accuracy of calibration.

Description of drawings

Fig. 1 is the overall schematic diagram of the calibration system of the present invention;

Fig. 2 is the three-dimensional schematic view of the gyroscope installation device of the present invention;

Fig. 3 is the overall schematic diagram of the adjustment and positioning mechanism of the present invention;

Fig. 4 is the overall schematic diagram of the angle adjustment mechanism of the present invention;

Fig. 5 is the overall schematic diagram of the snap locking mechanism of the present invention, removing the connecting plate, the first vertical plate, the second vertical plate and the supporting sleeve;

Fig. 6 is the structural representation of theodolite mounting platform of the present invention;

Fig. 7 removes the structural representation of upper tray for the theodolite mounting platform of the present invention;

Fig. 8 is the overall flowchart of the calibration method of the present invention;

Fig. 9 is a flow chart of the centering adjustment method of the present invention;

Among them, 1-adjustment and positioning mechanism, 11-lower chassis, 12-upper chassis, 13-first horizontal adjustment bolt, 14-front and rear positioning bolts, 15-ear, 16-vertical plate, 17-threaded hole; 2-screw lift Platform, 21-threaded column, 22-threaded pipe, 23-rotary handle; 3-angle adjustment mechanism, 31-inner disc, 32-outer disc, 33-base, 34-spacer ring, 35-fixed plate, 36-occlusion lock Tightening mechanism, 37-tension spring, 38-second horizontal adjustment bolt, 3601-C-clamp, 3602-locking bolt, 3603-lower plate, 3604-upper plate, 3605-connecting plate, 3606-micro-moving screw, 3607 -First vertical plate, 3608-passive rod, 3609-second vertical plate, 3610-disc block, 3611-spring, 3612-gland, 3613-support sleeve; 4-gyro turntable, 41-upper plate, 42-bottom plate, 43-vertical bar, 44-front, rear, left and right adjustment bolts; 5-theodolite mounting platform, 51-upper tray, 52-slider, 53-lower tray, 54-installation plate, 55-front and rear adjustment bolts, 56 -Adjust the bolt left and right.

detailed description

The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

As shown in Fig. 1, the present invention provides a kind of gyroscope calibration system based on astronomical azimuth, the system includes: astronomical observation pier, collimator and gyroscope placement device on the connecting line between astronomical observation pier and collimator , the gyroscope installation device is used for placing the gyroscope to be calibrated, and can realize the adjustment of the gyroscope to be calibrated at any angle on the horizontal plane.

As shown in Figure 2, the gyroscope installation device includes an adjustment and positioning mechanism 1, a spiral lift table 2, an angle adjustment mechanism 3, a gyroscope rotary table 4, and a theodolite mounting table 5 arranged coaxially from bottom to top. The mechanism 1 and the spiral lifting platform 2 are collectively referred to as a supporting mechanism, and the theodolite mounting platform 5 is detachably arranged on the gyroscope rotating platform 4 .

The angle adjustment mechanism 3 is used to realize the rotation of the gyroscope turntable 4 at any angle on the horizontal plane. The gyroscope, the theodolite mounting table 5 is used to install and move the theodolite around, in the axial center line of the adjustment positioning mechanism 1, the spiral lift table 2, the angle adjustment mechanism 3, the gyroscope rotary table 4 and the theodolite mounting table 5 Both are provided with through holes, and a light source is provided in the bottom through holes of the adjustment and positioning mechanism 1, which facilitates the installation of the device and ensures the reliability of the test.

As shown in Figure 3, the adjustment and positioning mechanism 1 includes a lower chassis 11 fixed on the ground and an upper chassis 12 arranged on the lower chassis 11, and eight first horizontal adjustment bolts 13 and four are evenly arranged along the circumferential direction of the upper chassis 12. Two front and rear positioning bolts 14, these first horizontal adjustment bolts 13 and front and rear positioning bolts 14 are arranged in a cross, each end is provided with two first horizontal adjustment bolts 13 and a front and rear positioning bolt 14, the first horizontal adjustment bolt 13 is used To adjust the level of the top surface of the spiral lift table 2 connected with the adjustment and positioning mechanism 1, the front and rear positioning bolts 14 are used to adjust the forward and backward movement of the spiral lift table 2 connected with the adjustment and positioning mechanism 1, and the upper chassis 12 and the lower chassis 11 are coaxially arranged And the center is provided with a through hole, and a backlight grid plate is also provided in the through hole of the lower chassis 11 .

Long waist holes are arranged on the upper chassis 12 corresponding to the positions of the front and rear positioning bolts 14 . The longitudinal directions of the long waist holes are aligned in the same direction.

Two ends along the width direction of the long waist hole on the upper chassis 12 are respectively provided with two vertically upward ears 15, and a riser 16 is provided on the lower chassis 11 corresponding to each ear 15 of the upper chassis 12, The vertical plate 16 and the ear 15 are separated by a certain distance, and are provided with threaded holes 17 , and the vertical plate 16 is connected to the corresponding ear 15 through the threaded hole 17 by a screw.

As shown in Figure 2, the spiral lift table 2 includes a threaded column 21 and a threaded pipe 22 that are nested and matched with each other. The threaded column 21 is provided with external threads, and the interior adopts a hollow structure. On the mechanism 1, the threaded pipe 22 is provided with an internal thread, and four rotating handles 23 are evenly arranged on the peripheral top along the circumferential direction. By rotating the rotating handles 23 sequentially on the horizontal plane, the threaded column 21 can be screwed out or screwed into the threaded pipe. twenty two.

As shown in Figure 4, the angle adjustment mechanism 3 includes a turntable, the turntable is provided with an inner disk 31 and an outer disk 32 from the inside to the outside, the inner disk 31 and the outer disk 32 are coaxially arranged and the outer disk 32 rotates relative to the inner disk 31, and the inner disk 31 is arranged on the base 33 Above, the gyroscope turntable 4 is arranged on the outer disk 32 through the spacer ring 34, the base 33 is arranged on the top surface of the spiral lift table 3 through the fixed plate 35, and the fixed plate 35 is arranged on the top surface of the spiral elevator table 3, and the outer disk 32 A snap-lock mechanism 36 is provided on the side, and the snap-lock mechanism 36 is used for fine-tuning and locking the rotation angle of the outer disk 32 .

As shown in Figures 4 and 5, the snap locking mechanism 36 includes a C-shaped clip 3601, which includes a side wall and an upper plate and a lower plate of a C-shaped opening. The center of the upper plate and the lower plate is provided with a locking bolt 3602, which is used to adjust the size of the C-shaped opening, one end of which is fixedly connected with the lower plate 3603 of the C-shaped opening, and the other end is provided with an external thread, which is connected The upper plate of the C-shaped opening is 3604 threaded.

The bottom of the side wall of the C-shaped clip 3601 is set on the fixed plate 35 through the connecting plate 3605, and the side wall is vertically provided with a fine-tuning mechanism, which is used to adjust the peripheral micro-movement of the outer disk 32 after the C-shaped clip 3601 is engaged.

The fine-tuning mechanism includes a fine-moving screw 3606, one end of the fine-moving screw 3606 passes through the first vertical plate 3607 and contacts with one side of the side wall of the C-shaped clamp 3601, and the fine-moving screw 3606 and the first vertical plate 3607 rotate through threads. The first vertical plate 3607 is fixedly arranged on one side of the connecting plate 3605, and the other side of the side wall of the C-shaped clip 3601 is provided with a passive rod 3608, and one end of the passive rod 3608 is connected with the other side of the side wall of the C-shaped clip 3601, The other end passes through the middle hole of the second vertical plate 3609, but is not in contact with the second vertical plate 3609. A disc block 3610 is arranged on the top end, and the disc block 3610 is connected to one end of the spring 3611, and the other end of the spring 3611 is connected to the pressure plate. The cover 3612 is connected, and the gland 3612 is arranged on the second vertical plate 3609 through the supporting sleeve 3613. The supporting sleeve 3613 is arranged on the periphery of one end of the spring 3611 and the passive rod 3608 with the disk block 3610, and one end of the supporting sleeve 3613 is arranged on the second vertical plate 3609 The other end of the second vertical plate 3609 is connected to the gland 3612 , and the second vertical plate 3609 is fixed on the other side of the connecting plate 3605 . The diameter of the disc block 3610 is smaller than the inner diameter of the support sleeve 3613 .

A horizontal adjustment mechanism is arranged between the fixed plate 35 and the base 33. The horizontal adjustment mechanism is used to adjust the level of the top surface of the gyro turntable 4 connected to the angle adjustment mechanism 3. The horizontal adjustment mechanism includes A plurality of extension springs 37 and the second horizontal adjustment bolts 38 evenly arranged between the fixed plate 35 and the base 33, the second horizontal adjustment bolts pass through the fixed plate 35 and contact with the bottom surface of the base 33 for adjustment and The top surface of the gyroscope turntable 4 connected to the angle adjustment mechanism 3 is horizontal, and one end of the tension spring 37 is connected to the top surface of the fixed plate 35, and the other end is connected to the bottom surface of the base 33. 2 to form a certain soft connection to prevent misalignment when the gyroscope turntable 4 is horizontally adjusted.

The centers of the fixing plate 35 , the base 33 , and the inner disc 31 are all provided with through holes, and their axial centerlines are collinear with the axial centerlines of the spiral lift table 2 and the gyro turntable 4 .

As shown in Figure 2, the gyroscope turntable 4 comprises an upper deck 41 and a lower deck 42 parallel to each other, a plurality of vertical rods 43 are evenly arranged on opposite sides between the upper deck 41 and the lower deck 42, and the other opposite two The side adopts an open design, that is, no obstacles are added. The bottom surface of the lower deck 42 is arranged on the angle adjustment mechanism 3, and the center of the upper deck 41 and the lower deck 42 is provided with a through hole. The gyro part that can accommodate the hanging gyro theodolite passes through, and four front, rear, left, and right adjustment bolts 44 are uniformly arranged on the upper plate 41 along the circumference of the through hole, and the front, rear, left, and right adjustment bolts 44 can be used to adjust the front, rear, left, and right movement of the bottom hanging gyro theodolite .

The internal dimensions of the gyroscope turntable 4 are no more than 500mm*400mm*400mm, but due to its open design, the gyroscope turntable 4 can accommodate a marine gyroscope, and then this type of gyroscope can be calibrated. In addition It can also calibrate various types of gyroscopes such as gyro theodolite and MEMS gyroscope.

As shown in Figures 6 and 7, the theodolite mounting table 5 comprises an upper pallet 51, a slide block 52 and a lower pallet 53 that are arranged in sequence from top to bottom, and the centers of the upper pallet 51, the slide block 52 and the lower pallet 53 are all arranged There are through holes, the top surface of the upper tray 51 is provided with a mounting plate 54, and the bottom surface is provided with a first track, and the mounting plate 54 is used for installing the theodolite; the top surface of the lower tray 53 is provided with a second track, and the bottom surface is set on the gyro turntable 4 , the first track and the second track are perpendicular to each other, the slider 52 can move on the first track and the second track, and a front and rear adjustment bolt 55 is respectively arranged on both sides of the slider 52 along the direction of the second track. The bolt 55 moves the slide block 52 along the direction of the second track. A left and right adjusting bolt 56 is respectively arranged on both sides of the upper tray 51 along the direction of the first track. By adjusting the bolt 56 left and right, the upper tray 51 is moved along the direction of the first track. The front, rear, left, and right movement of the theodolite installed on the mounting plate 54 can be adjusted by the front and rear adjustment bolts 55 and the left and right adjustment bolts 56 like this.

As shown in Figure 8, the present invention also provides a kind of gyroscope calibration method based on astronomical azimuth, comprising the following steps:

Step 1, the theodolite is placed on the theodolite mounting platform 5, and the optical center of the theodolite and the mark on the backlight grid plate at the bottom of the adjustment positioning mechanism 1 are adjusted for centering;

Or the gyro portion of the hanging type gyro theodolite passes through the through hole of the upper plate 41 of the gyro turntable 4, and is arranged on the gyro turntable 4, and the optical center of the theodolite portion of the hang type gyro theodolite and the bottom of the adjustment positioning mechanism 1 Adjust the mark on the backlight grid plate;

Step 2: Comparing the azimuth angle measured by the gyroscope to be calibrated or the gyrotheodolite to be calibrated with the true north, that is, zero-degree azimuth angle or the astronomical azimuth angle of the collimator, and making a decision.

As shown in Figure 9, the centering adjustment includes the following steps:

Step 1, adjust the spiral lift table 2 to the required height, set it on the upper base plate 12 of the adjustment positioning mechanism 1, loosen the front and rear positioning bolts 14 of the upper base plate 12, and adjust the screw rod passing through the ears 15 on the lower base plate 11, Align the center of the threaded lifting platform 2 with the center of the backlight grid plate of the lower base plate 11, and then lock the front and rear positioning bolts 14;

Step Ⅱ, adjust the tripod to the required height, set it above the spiral lifting platform 2, and then fix the theodolite on the tripod, so that the optical center of the theodolite is set on the connection line between the collimator and the astronomical observation pier, adjust The relevant parts of the theodolite make its vertical axis plumb, and project it onto the backlight grid plate of the lower base plate 11 of the adjustment positioning mechanism 1, read the rectangular coordinate position of the vertical point on the grid, and simultaneously use a very fine pen to draw the vertical axis The quasi-point is marked on the grid Cartesian coordinate plane;

Step III, adjust the first level adjusting bolt 13 to make the top surface of the spiral lift table 2 level;

Step VI: Set the angle adjustment mechanism 3 on the spiral lifting table 2, and then set the gyroscope turntable 4 on the angle adjustment mechanism 3, and adjust the second horizontal adjustment bolt 38 to make the upper plate 41 of the gyroscope turntable 4 Level;

Step Ⅴ, the theodolite installation platform 5 is arranged on the gyroscope turntable 4, then the theodolite is arranged on the theodolite installation platform 5, by adjusting the left and right adjustment bolts 56 and the front and rear adjustment bolts 55, the optical center of the theodolite and the backlight grid plate The vertical point mark on the centering;

Or step Ⅴ, pass the gyro part of the hanging type gyro theodolite through the through hole on the upper plate 41 of the gyro turntable 4, be arranged on the gyro turntable 4, adjust the bolt 44 by adjusting the front and back, left and right, so that the bottom of the hang type gyro theodolite The optical center is aligned with the vertical point mark on the backlight grid plate.

Wherein comparing the measured azimuth with true north, ie the zero-degree azimuth, includes the following steps:

Step i, aim the crosshair target in the collimator at the crosslight target in the collimator, then place the gyroscope to be calibrated in the gyroscope turntable 4 of the calibration device, and make horizontal adjustments; The crosslight target in the aiming part of the theodolite of the hanging gyro theodolite is aimed at the crosslight target in the collimator;

Step ii. Use the angle adjustment mechanism 3 and the theodolite or the theodolite part of the hanging gyro theodolite to rotate the gyroscope turntable 4 to the astronomical azimuth angle where the collimator is located, but the direction is opposite to the azimuth angle where the collimator is located, and then Use the bite locking mechanism to fine-tune and lock the angle of rotation;

Step Ⅲ, compare the azimuth angle measured by the gyroscope to be calibrated or the gyrotheodolite with the true north, that is, the zero degree azimuth angle.

Wherein comparing the measured azimuth with the astronomical azimuth of the collimator comprises the following steps:

Step 1. Place the gyroscope to be calibrated in the gyroscope turntable 4, and adjust the level, then use the angle adjustment mechanism 3 to rotate the gyroscope turntable 4, and make fine adjustments in combination with the occlusal locking mechanism 36, so that the gyroscope to be calibrated The azimuth of the gyroscope is zero degree azimuth;

Or utilize the angle adjustment mechanism 3 to rotate the gyroscope turntable 4, and do fine-tuning in combination with the interlocking locking mechanism 36, so that the azimuth angle measured by the hanging gyro theodolite is zero degree azimuth;

Step 2. Use the angle adjustment mechanism 3 of the calibration device to rotate the gyroscope turret 4, and make fine adjustments in combination with the occlusal locking mechanism, so that the crosshair target in the aiming part of the theodolite of the theodolite or the bottom-mounted gyro theodolite is aimed at the collimator cross-beam target in

Step 3. Compare the azimuth angle measured by the gyroscope to be calibrated or the gyroscope theodolite with the astronomical azimuth angle of the collimator.

The invention enables the optical center of the theodolite to be conveniently marked on the backlight grid plate at the bottom of the device by virtue of the coaxial design, horizontal adjustment design and center through hole design of each part of the device, thereby improving the calibration efficiency.

Through the coaxial nesting design of the angle adjustment mechanism, the inner and outer discs and the snap-lock mechanism set on the edge of the outer disc can realize the rotation of the gyroscope to be tested at any angle on the gyro turntable, combined with the detachable design of theodolite mounting platform and The open design of the gyroscope turret realizes the calibration of various high-precision gyroscopes and improves the accuracy of calibration.

In addition, with the help of the astronomical azimuth angle of the collimator, combined with the centering adjustment, the accuracy of the calibration is improved.

Although the specific implementations of the present invention have been described above, those skilled in the art should understand that these are only examples, and various changes or modifications can be made to these implementations without departing from the principle and essence of the present invention. Modifications, therefore, the scope of protection of the 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.