CN106949909B - Gyroscope calibration system and method based on astronomical azimuth angle - Google Patents
Gyroscope calibration system and method based on astronomical azimuth angle Download PDFInfo
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- CN106949909B CN106949909B CN201710260011.7A CN201710260011A CN106949909B CN 106949909 B CN106949909 B CN 106949909B CN 201710260011 A CN201710260011 A CN 201710260011A CN 106949909 B CN106949909 B CN 106949909B
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Abstract
The invention relates to the technical field of gyroscope calibration, and discloses an astronomical azimuth-based gyroscope calibration system which comprises an astronomical observation pillar, a collimator and a gyroscope arrangement device positioned on a connecting line of the astronomical observation pillar and the collimator, wherein the gyroscope arrangement device is used for placing a gyroscope to be calibrated and can realize the adjustment of the gyroscope to be calibrated at any angle on a horizontal plane. The method comprises the step of centering and adjusting the marks of the optical center of the theodolite or the lower hanging gyrotheodolite and the backlight grid plate; and comparing the azimuth angle measured by the gyroscope to be calibrated or the lower hanging type gyrotheodolite with the zero-degree azimuth angle or the astronomical azimuth angle of the collimator, and making a judgment. The invention improves the calibration accuracy by combining centering adjustment with the astronomical azimuth angle of the collimator.
Description
Technical Field
The invention belongs to the technical field of gyroscope calibration, and particularly relates to a system and a method for calibrating a gyroscope based on an astronomical azimuth angle.
Background
The gyroscope is an angular motion detection device, and can accurately indicate the true north direction under the combined action of gravity and self-rotation force on the earth. The gyroscope is divided into the following components according to different measurement and control principles: piezoelectric gyroscopes, micromechanical gyroscopes, fiber optic gyroscopes, laser gyroscopes, and the like. The gyroscope is a pointing instrument which does not depend on external signals and can work independently. The device is widely applied to the attitude and track control of moving objects, and is a key instrument for the navigation and control of rockets, airplanes, ships and vehicles. Since the gyroscope is limited by the manufacturing technology, the output azimuth angles of the gyroscope have different degrees of indicating value deviation, and the gyroscope needs to be calibrated regularly.
The astronomical azimuth takes the polar star as a natural reference, and the measurement work of the astronomical longitude and the astronomical latitude of a ground point or the astronomical azimuth between two points is determined by observing the position of a fixed star. The reproduced true north direction magnitude is not influenced by various factors such as time, geographic position, environment, corrected object and the like, and the reference magnitude can be reproduced as long as the star viewing condition is met, so that the method has high reproducibility and stability.
The work of China in the field of azimuth angle research starts in the eighties of the last century, and the precision V-shaped groove azimuth angle device adopted by the great wall measurement and test technical research institute of Beijing (304 institute) at that time is not capable of directly observing the Polaris for the arrangement place of the V-shaped groove, so that the azimuth angle is introduced from a window after refraction is carried out for 2 times, the device belongs to indirect measurement, can meet the calibration of a gyroscope of +/-30 ", and cannot be applied to the condition of +/-5" of the modern highest-grade gyroscope.
The Guangzhou city metrological detection technology research institute built an astronomical azimuth gyro theodolite-based measuring device in 2010, and the uncertainty U of the azimuth measurement result is 1 ″ (k is 2).
A national azimuth angle device is established in Changping base by China metrological academy in 2012, and the uncertainty U of the azimuth angle measurement result95＝0.5″。
The calibration laboratory is only used for calibrating the gyrotheodolite at present, but for a measured object based on the MEMS gyroscope principle, the diameter is about 200mm, the size is relatively small, the domestic marine gyroscope generally adopts a very durable hydropneumatic gyroscope, the maximum size is 550mm multiplied by 400mm, the size is large, the mass reaches 25 kg-30 kg, the calibration work for the domestic marine gyroscope cannot be carried out at present, and the working table space for placing a gyroscope sample and a bearing rotary table system need to be redesigned.
Disclosure of Invention
The invention provides a gyroscope calibration method based on an astronomical azimuth angle, which solves the problem that the calibration precision of the existing calibration method cannot meet the actual requirement.
The invention can be realized by the following technical scheme:
an astronomical azimuth-based gyroscope calibration system, comprising: the device comprises an astronomical observation pillar, a collimator and a gyroscope arranging device, wherein the gyroscope arranging device is positioned on a connecting line of the astronomical observation pillar and the collimator and is used for arranging a gyroscope to be calibrated and can realize the adjustment of any angle of the gyroscope to be calibrated on a horizontal plane.
Further, device top-down is settled to the gyroscope includes theodolite mount table, gyroscope revolving platform, angular adjustment mechanism and the supporting mechanism of coaxial setting in proper order, the theodolite mount table is used for installing the theodolite, the gyroscope revolving platform is used for placing the gyroscope of treating the calibration, angular adjustment mechanism is used for realizing that the gyroscope revolving platform is the adjustment of arbitrary angle on the horizontal plane, the supporting mechanism is used for supporting the gyroscope revolving platform.
Further, angle adjustment mechanism includes the carousel, the carousel is provided with inner disc and outer dish from inside to outside, inner disc and the coaxial setting of outer dish and the relative inner disc rotation of outer dish, the inner disc sets up on the base, the gyroscope revolving platform passes through the spacer ring setting on the outer dish, the base passes through the fixed plate setting at supporting mechanism's top surface, the fixed plate sets up the top surface at supporting mechanism, the side of outer dish is provided with interlock locking mechanism, interlock locking mechanism is used for finely tuning and locking the turned angle of outer dish, the center of base, inner disc all is provided with the through-hole, and the axial centerline collineation of their axial centerline and supporting mechanism, gyroscope revolving platform.
Further, interlock locking mechanism includes that the C type presss from both sides, the C type presss from both sides including lateral wall and C type open-ended upper plate, hypoplastron, and C type opening card is at the outer dish edge, the bottom of lateral wall passes through the connecting plate setting on the fixed plate, the center of C type open-ended upper plate and hypoplastron is provided with the locking bolt, the locking bolt is used for adjusting C type open-ended size, the lateral wall that the C type pressed from both sides is provided with fine tuning perpendicularly, the fine tuning is used for adjusting the outer dish that the C type pressed from both sides after the interlock and is done the circumference fine motion.
Furthermore, one end of the locking bolt is fixedly connected with the lower plate of the C-shaped opening, and the other end of the locking bolt is provided with external threads which are connected with the upper plate of the C-shaped opening in a threaded manner.
Further, the fine adjustment mechanism comprises a fine adjustment screw rod, one end of the fine adjustment screw rod passes through a first vertical plate to be contacted with one surface of the side wall of the C-shaped clamp, the fine adjustment screw rod and the first vertical plate rotate in a matched mode through threads, the first vertical plate is fixedly arranged on one side of the connecting plate,
the another side of the lateral wall that the C type pressed from both sides is provided with passive pole, the another side of the lateral wall that the one end of passive pole and C type pressed from both sides links to each other, and the other end passes the mesopore of second riser, nevertheless does not contact with the second riser, and its top is provided with the disc piece, the disc piece links to each other with spring one end, and the other end and the gland of spring link to each other, the gland passes through the support cover and sets up on the second riser, the support cover sets up the periphery at the one end of the area disc piece of spring and passive pole, the one end setting of support cover is on the second riser, and the other end links to each other with the gland, on the fixed opposite side that sets up the connecting plate of second riser, the diameter of disc piece is less.
Further, the supporting mechanism is of a hollow structure, a backlight grid plate is arranged in the center of the bottom of the supporting mechanism, a vertical alignment point mark is arranged on the backlight grid plate, the vertical alignment point is a point on a connecting line of the astronomical observation pier and the collimator and is located at a vertical foot of the backlight grid plate, and the connecting line of the point and the vertical foot is coincident with the axial center line of the gyroscope arranging device.
Further, the gyroscope revolving platform comprises an upper bedplate and a lower bedplate, a plurality of vertical rods are uniformly arranged on two opposite sides between the upper bedplate and the lower bedplate, the bottom surface of the lower bedplate is arranged on the angle adjusting mechanism, through holes are formed in the centers of the upper bedplate and the lower bedplate, the theodolite mounting platform can be detachably arranged on the top surface of the upper bedplate, and the through holes of the upper bedplate can accommodate the gyro part of the lower hanging type gyrotheodolite to pass through.
Further, the theodolite mount table has set gradually mounting disc and middle tray from top to bottom, the mounting disc is used for installing the theodolite, middle tray sets up on the gyroscope revolving platform, the center of mounting disc and middle tray all is provided with the through-hole.
A calibration method based on the above-described astronomical azimuth-based gyroscope calibration system, comprising: placing the theodolite on a theodolite mounting table, and centering and adjusting the optical center of the theodolite and the mark of the backlight grid plate at the bottom of the supporting mechanism;
or the gyro part of the lower hanging type gyrotheodolite passes through the through hole of the upper bedplate of the gyrotheca, and is arranged on the gyrotheca, and the optical center of the theodolite part of the lower hanging type gyrotheodolite and the mark of the backlight grid plate at the bottom of the supporting mechanism are adjusted in a centering way;
and comparing the azimuth angle measured by the gyroscope to be calibrated or the lower hanging type gyrotheodolite with the true north, namely the zero-degree azimuth angle or the astronomical azimuth angle of the collimator, and judging.
Further, the comparing of the measured azimuth angle with a true north, zero degree azimuth angle, comprises the steps of:
aiming a cross light target in an aiming part of a theodolite at a cross light target in a collimator, placing a gyroscope to be calibrated in a gyroscope rotary table, and performing horizontal adjustment; or aiming the cross light target in the aiming part of the theodolite part of the lower hanging type gyrotheodolite at the cross light target in the collimator tube;
step ii, rotating the gyroscope turntable by the azimuth angle of the collimator tube by using the angle adjusting mechanism and the theodolite part of the theodolite or the lower hanging type gyrotheodolite, wherein the direction is opposite to the azimuth angle of the collimator tube, and then finely adjusting by using the occlusion locking mechanism and locking the rotating angle;
and step iii, comparing the azimuth angle measured by the gyroscope to be calibrated or the lower hanging type gyrotheodolite with the true north, namely the zero-degree azimuth angle.
Further, the comparing of the measured azimuth angle with the astronomical azimuth angle of the collimator comprises the following steps:
placing a gyroscope to be calibrated in a gyroscope revolving platform, performing horizontal adjustment, rotating the gyroscope revolving platform by using an angle adjusting mechanism, and performing fine adjustment by combining an occlusion locking mechanism to enable an azimuth angle measured by the gyroscope to be calibrated to be a zero-degree azimuth angle;
or the gyroscope revolving platform is rotated by utilizing the angle adjusting mechanism, and fine adjustment is carried out by combining the occlusion locking mechanism, so that the azimuth angle measured by the lower hanging type gyrotheodolite is a zero-degree azimuth angle;
rotating the gyroscope revolving platform by using an angle adjusting mechanism, and finely adjusting by combining with an occlusion locking mechanism to enable a cross light target in a sighting part of a theodolite part of the theodolite or the lower hanging type gyrotheodolite to sight a cross light target in a collimator tube;
and step three, comparing the azimuth angle measured by the gyroscope to be calibrated or the lower hanging type gyrotheodolite with the astronomical azimuth angle of the collimator.
The beneficial technical effects of the invention are as follows:
by means of the coaxial design of all parts of the device and the through hole design of the center, the point on the connecting line of the astronomical observation pier and the collimator can be conveniently marked with a vertical alignment point on the backlight grid plate at the bottom of the device, and the centering adjustment of the optical center of the theodolite and the vertical alignment point can be realized.
Through the inner and outer disks of the coaxial nested design of the angle adjusting mechanism and the occlusion locking mechanism arranged at the edge of the outer disk, the arbitrary angle rotation of the gyroscope to be tested on the gyroscope rotary table can be realized, and the detachable design of the theodolite mounting table is combined, so that the calibration work of various high-precision gyroscopes is realized, and the calibration accuracy is improved.
Drawings
FIG. 1 is a general schematic of a calibration system of the present invention;
FIG. 2 is a schematic perspective view of a gyroscope mounting arrangement of the present invention;
FIG. 3 is a general schematic view of the adjustable positioning mechanism of the present invention;
FIG. 4 is a general schematic view of the angular adjustment mechanism of the present invention;
FIG. 5 is a general schematic view of the snap-in locking mechanism of the present invention with the connecting plate, first riser, second riser and support sleeve removed;
FIG. 6 is a schematic structural view of a theodolite mount of the present invention;
FIG. 7 is a schematic view of the theodolite mounting station of the present invention with the upper tray removed;
FIG. 8 is a general flow chart of the calibration method of the present invention;
FIG. 9 is a flow chart of a centering adjustment method of the present invention;
wherein, 1-adjusting and positioning mechanism, 11-lower chassis, 12-upper chassis, 13-first horizontal adjusting bolt, 14-front and rear positioning bolt, 15-ear, 16-vertical plate and 17-threaded hole; 2-a spiral lifting platform, 21-a threaded column, 22-a threaded pipe and 23-a rotating handle; 3-angle adjusting mechanism, 31-inner disc, 32-outer disc, 33-base, 34-spacer ring, 35-fixing plate, 36-meshing locking mechanism, 37-tension spring, 38-second horizontal adjusting bolt, 3601-C type clamp, 3602-locking bolt, 3603-lower plate, 3604-upper plate, 3605-connecting plate, 3606-micro screw, 3607-first vertical plate, 3608-passive rod, 3609-second vertical plate, 3610-disc block, 3611-spring, 3612-gland and 3613-supporting sleeve; 4-gyroscope rotary table, 41-upper bedplate, 42-lower bedplate, 43-vertical bar and 44-front, back, left and right adjusting bolt; 5-theodolite mounting table, 51-upper tray, 52-slide block, 53-lower tray, 54-mounting disc, 55-front and back adjusting bolt and 56-left and right adjusting bolt.
Detailed Description
The following detailed description of the preferred embodiments will be made with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides an astronomical azimuth-based gyroscope calibration system, comprising: the device comprises an astronomical observation pillar, a collimator and a gyroscope arranging device, wherein the gyroscope arranging device is positioned on a connecting line of the astronomical observation pillar and the collimator and is used for arranging a gyroscope to be calibrated and can realize that the gyroscope to be calibrated can be adjusted at any angle on a horizontal plane.
As shown in fig. 2, the gyroscope mounting device sequentially includes, from bottom to top, an adjusting and positioning mechanism 1, a spiral lifting table 2, an angle adjusting mechanism 3, a gyroscope revolving table 4, and a theodolite mounting table 5, which are coaxially disposed, the adjusting and positioning mechanism 1 and the spiral lifting table 2 are collectively referred to as a supporting mechanism, and the theodolite mounting table 5 is detachably disposed on the gyroscope revolving table 4.
This angle adjustment mechanism 3 is used for realizing that gyroscope revolving platform 4 is the rotation of arbitrary angle on the horizontal plane, this spiral elevating platform 2 is used for realizing reciprocating of gyroscope revolving platform 4, this gyroscope revolving platform 4 is used for placing the gyroscope of treating the calibration, this theodolite mount table 5 is used for installing and all around the removal theodolite, at this adjustment positioning mechanism 1, spiral elevating platform 2, angle adjustment mechanism 3, all be provided with the through-hole on the axial centerline of gyroscope revolving platform 4 and theodolite mount table 5, be provided with the light source in the bottom through-hole of adjustment positioning mechanism 1, facilitate the installation of device, and ensure the reliability of test.
As shown in fig. 3, the adjusting and positioning mechanism 1 includes a lower chassis 11 fixed on the ground and an upper chassis 12 disposed on the lower chassis 11, eight first horizontal adjusting bolts 13 and four front and rear positioning bolts 14 are uniformly disposed along the circumference of the upper chassis 12, the first horizontal adjusting bolts 13 and the front and rear positioning bolts 14 are arranged in a cross shape, two first horizontal adjusting bolts 13 and one front and rear positioning bolt 14 are disposed at each end, the first horizontal adjusting bolts 13 are used for adjusting the top surface level of the spiral lifting platform 2 connected to the adjusting and positioning mechanism 1, the front and rear positioning bolts 14 are used for adjusting the front and rear movement of the spiral lifting platform 2 connected to the adjusting and positioning mechanism 1, the upper chassis 12 and the lower chassis 11 are coaxially disposed and have through holes at the centers, and a backlight grid plate is further disposed in the through holes of the lower chassis 11.
Long waist holes are formed in the upper chassis 12 at positions corresponding to the front and rear positioning bolts 14, the long waist holes are oriented in the same direction in the longitudinal direction, and the front and rear positioning bolts 14 are disposed in the long waist holes.
Two vertical upward ears 15 are respectively arranged at two ends of the upper chassis 12 along the width direction of the long waist hole, a vertical plate 16 is arranged at the position, corresponding to each ear 15 of the upper chassis 12, on the lower chassis 11, a certain distance is reserved between the vertical plate 16 and the ear 15, a threaded hole 17 is formed in the vertical plate 16, and the vertical plate 16 penetrates through the threaded hole 17 through a screw rod to be connected with the corresponding ear 15.
As shown in fig. 2, the spiral lifting platform 2 includes a threaded column 21 and a threaded pipe 22 which are mutually nested and matched, the threaded column 21 is provided with an external thread, the inside of the threaded column is of a hollow structure, the top of the threaded column is provided with an angle adjusting mechanism 3, the bottom of the threaded column is arranged on the adjusting and positioning mechanism 1, the threaded pipe 22 is provided with an internal thread, the peripheral top is evenly provided with four rotating handles 23 along the circumferential direction, and the threaded column 21 can be screwed out or screwed into the threaded pipe 22 by sequentially rotating the rotating handles 23 on the horizontal plane.
As shown in fig. 4, the angle adjusting mechanism 3 includes a rotating disk, the rotating disk is provided with an inner disk 31 and an outer disk 32 from inside to outside, the inner disk 31 and the outer disk 32 are coaxially arranged, the outer disk 32 rotates relative to the inner disk 31, the inner disk 31 is arranged on a base 33, the gyroscope rotary table 4 is arranged on the outer disk 32 through a spacer ring 34, the base 33 is arranged on the top surface of the spiral lifting table 3 through a fixing plate 35, the fixing plate 35 is arranged on the top surface of the spiral lifting table 3, the side edge of the outer disk 32 is provided with an engagement locking mechanism 36, and the engagement locking mechanism 36 is used for finely adjusting and locking the rotation angle of the outer disk 32.
As shown in fig. 4 and 5, the snap locking mechanism 36 includes a C-shaped clip 3601, the C-shaped clip 3601 includes a sidewall and an upper plate and a lower plate with a C-shaped opening, the C-shaped opening is clamped at the edge of the outer plate 32, a locking bolt 3602 is arranged at the center of the upper plate and the lower plate with the C-shaped opening, the locking bolt 3602 is used for adjusting the size of the C-shaped opening, one end of the locking bolt 3602 is fixedly connected with the lower plate 3603 with the C-shaped opening, and the other end of the locking bolt 3602 is provided with an external thread and is in threaded connection with the.
The bottom of the side wall of the C-shaped clamp 3601 is arranged on the fixing plate 35 through the connecting plate 3605, and the side wall is vertically provided with a fine adjustment mechanism which is used for adjusting the outer disc 32 engaged by the C-shaped clamp 3601 to perform circumferential fine adjustment.
The fine adjustment mechanism comprises a fine adjustment screw 3606, one end of the fine adjustment screw 3606 penetrates through a first vertical plate 3607 to be contacted with one surface of the side wall of a C-shaped clamp 3601, the fine adjustment screw 3606 and the first vertical plate 3607 are matched and rotated through threads, the first vertical plate 3607 is fixedly arranged on one side of a connecting plate 3605, the other surface of the side wall of the C-shaped clamp 3601 is provided with a driven rod 3608, one end of the driven rod 3608 is connected with the other surface of the side wall of the C-shaped clamp 3601, the other end of the driven rod 3608 penetrates through a middle hole of a second vertical plate 3609 but is not contacted with the second vertical plate 3609, the top end of the driven rod 3608 is provided with a disc block 3610, the disc block 3610 is connected with one end of a spring 3611, the other end of the spring 3611 is connected with a pressing cover 3612, the pressing cover 3612 is arranged on the second vertical plate 3609 through a supporting sleeve 3613, the supporting sleeve 3613 is arranged on the periphery of one end, one end of the spring, the second vertical plate 3609 is fixedly arranged on the other side of the connecting plate 3605, and the diameter of the disc block 3610 is smaller than the inner diameter of the supporting sleeve 3613.
A horizontal adjusting mechanism is arranged between the fixed plate 35 and the base 33 and used for adjusting the top surface level of the gyroscope rotary table 4 connected with the angle adjusting mechanism 3, the horizontal adjusting mechanism comprises a plurality of tension springs 37 and second horizontal adjusting bolts 38 which are uniformly arranged between the fixed plate 35 and the base 33 along the circumferential direction of the fixed plate 35, the second horizontal adjusting bolts penetrate 38 and contact with the bottom surface of the base 33 through the fixed plate 35 and are used for adjusting the top surface level of the gyroscope rotary table 4 connected with the angle adjusting mechanism 3, one end of each tension spring 37 is connected with the top surface of the fixed plate 35, the other end of each tension spring 37 is connected with the bottom surface of the base 33, and the tension springs 37 form certain soft connection between the angle adjusting mechanism 3 and the spiral lifting platform 2 and prevent dislocation when the gyroscope rotary table 4 is horizontally adjusted.
The centers of the fixed plate 35, the base 33 and the inner disc 31 are all provided with through holes, and the axial center lines of the fixed plate, the base 33 and the inner disc 31 are collinear with the axial center lines of the spiral lifting platform 2 and the gyroscope rotary platform 4.
As shown in fig. 2, the gyroscope turret 4 includes an upper platen 41 and a lower platen 42 which are parallel to each other, a plurality of vertical rods 43 are uniformly disposed on two opposite sides between the upper platen 41 and the lower platen 42, and the other two opposite sides are open-type, i.e., do not increase any obstacle. The bottom surface of the lower bedplate 42 is arranged on the angle adjusting mechanism 3, the centers of the upper bedplate 41 and the lower bedplate 42 are provided with through holes, the theodolite mounting table 5 can be detachably arranged on the top surface of the upper bedplate 41, the through holes of the upper bedplate 41 can accommodate the gyro part of the lower hanging type gyrotheodolite to pass through, four front, back, left and right adjusting bolts 44 are uniformly arranged on the upper bedplate 41 along the circumferential direction of the through holes, and the front, back, left and right adjusting bolts 44 can be used for adjusting the front, back, left and right movement of the lower hanging type gyr.
The internal dimensions of the gyroscope turret 4 do not exceed 500mm 400mm, but due to its open design, the gyroscope turret 4 can accommodate a marine gyroscope, and can calibrate this type of gyroscope, as well as various types of gyroscopes, such as gyroscopic theodolite, MEMS gyroscope, etc.
As shown in fig. 6 and 7, the theodolite mounting table 5 includes an upper tray 51, a slider 52 and a lower tray 53 which are sequentially provided from top to bottom and are matched with each other, through holes are provided at the centers of the upper tray 51, the slider 52 and the lower tray 53, a mounting disc 54 is provided on the top surface of the upper tray 51, a first rail is provided on the bottom surface, and the mounting disc 54 is used for mounting the theodolite; the top surface of the lower tray 53 is provided with a second track, the bottom surface is arranged on the gyroscope rotary table 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, the two sides of the slider 52 along the second track direction are respectively provided with a front and back adjusting bolt 55, the slider 52 can move along the second track direction through the front and back adjusting bolts 55, the two sides of the upper tray 51 along the first track direction are respectively provided with a left and right adjusting bolt 56, the upper tray 51 can move along the first track direction through the left and right adjusting bolts 56, and therefore the front and back adjusting bolts 55 and the left and right adjusting bolts 56 can adjust the front and back movement and the left and right movement of the theodolite installed on the installation disc 54.
As shown in fig. 8, the present invention further provides an astronomical azimuth-based gyroscope calibration method, comprising the following steps:
firstly, placing a theodolite on a theodolite mounting table 5, and centering and adjusting an optical center of the theodolite and marks of a backlight grid plate at the bottom of an adjusting and positioning mechanism 1;
or the gyro part of the lower hanging type gyrotheodolite passes through the through hole of the upper bedplate 41 of the gyrotheca 4 and is arranged on the gyrotheca 4, and the optical center of the theodolite part of the lower hanging type gyrotheodolite and the mark of the backlight grid plate at the bottom of the adjusting and positioning mechanism 1 are adjusted in a centering way;
and step two, comparing the azimuth angle measured by the gyroscope to be calibrated or the lower hanging type gyrotheodolite with the true north, namely the zero-degree azimuth angle or the astronomical azimuth angle of the collimator, and judging.
As shown in fig. 9, the centering adjustment includes the following steps:
step I, adjusting the spiral lifting platform 2 to a required height, arranging the spiral lifting platform on an upper base plate 12 of an adjusting and positioning mechanism 1, loosening front and rear positioning bolts 14 of the upper base plate 12, adjusting a screw rod penetrating through an ear 15 on a lower base plate 11, enabling the center of the spiral lifting platform 2 to be basically aligned with the center of a backlight grid plate of the lower base plate 11, and locking the front and rear positioning bolts 14;
step II, adjusting the tripod to the required height, arranging the tripod above the spiral lifting platform 2, fixing the theodolite on the tripod, enabling the optical center of the theodolite to be arranged on a connecting line of a collimator and an astronomical observation pier, adjusting related components of the theodolite to lead the vertical axis of the theodolite to be vertical, projecting the components onto a backlight grid plate of a lower bottom plate 11 of the adjusting and positioning mechanism 1, reading the rectangular coordinate position of the vertical point on the grid, and marking the vertical point on the rectangular coordinate surface of the grid by using an ultra-thin pen;
step III, adjusting a first horizontal adjusting bolt 13 to enable the top surface of the spiral lifting platform 2 to be horizontal;
step VI, arranging the angle adjusting mechanism 3 on the spiral lifting platform 2, arranging the gyroscope revolving platform 4 on the angle adjusting mechanism 3, and enabling the upper bedplate 41 of the gyroscope revolving platform 4 to be horizontal by adjusting the second horizontal adjusting bolt 38;
step V, arranging a theodolite mounting table 5 on a gyroscope revolving table 4, arranging a theodolite on the theodolite mounting table 5, and centering an optical center of the theodolite and a vertical alignment point mark on a backlight grid plate by adjusting a left adjusting bolt 56, a right adjusting bolt 56 and a front adjusting bolt 55;
or step V, the gyro part of the lower hanging type gyrotheodolite passes through a through hole on an upper bedplate 41 of the gyrotheca 4 and is arranged on the gyrotheca 4, and the optical center of the lower hanging type gyrotheodolite and the vertical alignment point mark on the backlight grid plate are centered by adjusting the front, back, left and right adjusting bolts 44.
Wherein comparing the measured azimuth with a true north, zero degree azimuth, comprises the steps of:
aiming a cross light target in an aiming part of a theodolite at a cross light target in a collimator, placing a gyroscope to be calibrated in a gyroscope revolving platform 4 of a calibrating device, and horizontally adjusting; or aiming the cross light target in the aiming part of the theodolite part of the lower hanging type gyrotheodolite at the cross light target in the collimator tube;
step ii, the gyro revolving platform 4 is rotated to the astronomical azimuth angle of the collimator tube by using the angle adjusting mechanism 3 and the theodolite or the theodolite part of the lower hanging type gyrotheodolite, but the direction is opposite to the azimuth angle of the collimator tube, and then fine adjustment is carried out by using the occlusion locking mechanism, and the rotating angle is locked;
and step iii, comparing the azimuth angle measured by the gyroscope to be calibrated or the lower hanging type gyrotheodolite with the true north, namely the zero-degree azimuth angle.
Wherein comparing the measured azimuth angle with the astronomical azimuth angle at which the collimator is located comprises the steps of:
or the gyroscope revolving platform 4 is rotated by the angle adjusting mechanism 3, and fine adjustment is carried out by combining the occlusion locking mechanism 36, so that the azimuth angle measured by the lower hanging type gyrotheodolite is a zero-degree azimuth; corner
By means of the coaxial design, the horizontal adjustment design and the through hole design of the center of each part of the device, the optical center of the theodolite can be conveniently marked on the backlight grid plate at the bottom of the device, and the calibration efficiency is improved.
Through the inner and outer disks of the coaxial nested design of the angle adjusting mechanism and the occlusion locking mechanism arranged at the edge of the outer disk, the arbitrary angle rotation of the gyroscope to be tested on the gyroscope revolving platform can be realized, and the calibration work of various high-precision gyroscopes is realized by combining the detachable design of the theodolite mounting platform and the open design of the gyroscope revolving platform, so that the calibration accuracy is improved.
In addition, the calibration accuracy is improved by combining centering adjustment with the aid of the astronomical azimuth angle of the collimator.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these are merely examples and that many variations or modifications may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is therefore defined by the appended claims.
Claims (11)
1. An astronomical azimuth angle based gyroscope calibration system, comprising: the device comprises an astronomical observation pillar, a collimator and a gyroscope arranging device positioned on the connection line of the astronomical observation pillar and the collimator, wherein the gyroscope arranging device is used for arranging a gyroscope to be calibrated and can realize the adjustment of any angle of the gyroscope to be calibrated on a horizontal plane,
the device top-down is settled to the gyroscope includes theodolite mount table, gyroscope revolving platform, angular adjustment mechanism and the supporting mechanism of coaxial setting in proper order, the theodolite mount table is used for installing the theodolite, the gyroscope revolving platform is used for placing the gyroscope of treating the calibration, angular adjustment mechanism is used for realizing that the gyroscope revolving platform is the adjustment of arbitrary angle on the horizontal plane, including inner disc and the outer dish of coaxial nested design, the supporting mechanism is used for supporting the gyroscope revolving platform.
2. The astronomical azimuth-based gyroscope calibration system of claim 1, wherein: angle adjustment mechanism includes the carousel, the carousel is provided with inner disc and outer dish from inside to outside, the inner disc rotates with the coaxial setting of outer dish and the relative inner disc of outer dish, the inner disc sets up on the base, the gyroscope revolving platform passes through the spacer ring setting on the outer dish, the base passes through the fixed plate and sets up the top surface at supporting mechanism, the fixed plate sets up the top surface at supporting mechanism, the side of outer dish is provided with interlock locking mechanism, interlock locking mechanism is used for finely tuning and locking the turned angle of outer dish, the center of base, inner disc all is provided with the through-hole, and the axial centerline collineation of their axial centerline and supporting mechanism, gyroscope revolving platform.
3. The astronomical azimuth-based gyroscope calibration system of claim 2, wherein: the occlusion locking mechanism comprises a C-shaped clamp, the C-shaped clamp comprises a side wall and an upper plate and a lower plate with a C-shaped opening, the C-shaped opening is clamped at the edge of an outer disc, the bottom of the side wall of the C-shaped clamp is arranged on a fixing plate through a connecting plate, locking bolts are arranged at the centers of the upper plate and the lower plate with the C-shaped opening and used for adjusting the size of the C-shaped opening, a fine adjustment mechanism is vertically arranged on the side wall of the C-shaped clamp, and the fine adjustment mechanism is used for adjusting the outer disc, after the C-shaped clamp is occluded, to perform circumferential fine adjustment.
4. The astronomical azimuth-based gyroscope calibration system of claim 3, wherein: one end of the locking bolt is fixedly connected with the lower plate with the C-shaped opening, and the other end of the locking bolt is provided with external threads which are connected with the upper plate with the C-shaped opening in a threaded manner.
5. The astronomical azimuth-based gyroscope calibration system of claim 3, wherein: the fine adjustment mechanism comprises a fine adjustment screw rod, one end of the fine adjustment screw rod passes through a first vertical plate to be contacted with one side of the side wall of the C-shaped clamp, the fine adjustment screw rod and the first vertical plate rotate in a matched mode through threads, the first vertical plate is fixedly arranged on one side of the connecting plate,
the another side of the lateral wall that the C type pressed from both sides is provided with passive pole, the another side of the lateral wall that the one end of passive pole and C type pressed from both sides links to each other, and the other end passes the mesopore of second riser, nevertheless does not contact with the second riser, and its top is provided with the disc piece, the disc piece links to each other with spring one end, and the other end and the gland of spring link to each other, the gland passes through the support cover and sets up on the second riser, the support cover sets up the periphery at the one end of the area disc piece of spring and passive pole, the one end setting of support cover is on the second riser, and the other end links to each other with the gland, on the fixed opposite side that sets up the connecting plate of second riser, the diameter of disc piece is less.
6. The astronomical azimuth-based gyroscope calibration system of claim 1, wherein: the supporting mechanism is of a hollow structure, a backlight grid plate is arranged in the center of the bottom of the supporting mechanism, a vertical alignment point mark is arranged on the backlight grid plate, the vertical alignment point is a point on a connecting line of the astronomical observation pier and the collimator and is located at a vertical foot of the backlight grid plate, and the connecting line of the point and the vertical foot is superposed with the axial center line of the gyroscope arranging device.
7. The astronomical azimuth-based gyroscope calibration system of claim 1, wherein: the gyroscope revolving platform comprises an upper platform plate and a lower platform plate, a plurality of vertical rods are uniformly arranged on two opposite sides between the upper platform plate and the lower platform plate, the bottom surface of the lower platform plate is arranged on the angle adjusting mechanism, through holes are formed in the centers of the upper platform plate and the lower platform plate, the theodolite mounting platform can be detachably arranged on the top surface of the upper platform plate, and the through holes of the upper platform plate can accommodate the gyroscope part of the lower hanging type gyrotheodolite to pass through.
8. The astronomical azimuth-based gyroscope calibration system of claim 1, wherein: the theodolite mounting table has set gradually mounting disc and middle tray from top to bottom, the mounting disc is used for installing the theodolite, middle tray sets up on the gyroscope revolving platform, the center of mounting disc and middle tray all is provided with the through-hole.
9. A calibration method of an astronomical azimuth-based gyroscope calibration system is characterized by comprising the following steps: the device comprises an astronomical observation pier, a collimator and a gyroscope arrangement device positioned on the connection line of the astronomical observation pier and the collimator, wherein the gyroscope arrangement device sequentially comprises a theodolite installation table, a gyroscope revolving table, an angle adjusting mechanism and a supporting mechanism which are coaxially arranged from top to bottom;
the supporting mechanism is of a hollow structure, a backlight grid plate is arranged in the center of the bottom of the supporting mechanism, the gyroscope revolving platform comprises an upper platen and a lower platen, through holes are formed in the centers of the upper platen and the lower platen, the theodolite mounting platform can be detachably arranged on the top surface of the upper platen, and the through holes of the upper platen can accommodate the gyroscope part of the lower hanging type gyrotheodolite to pass through;
placing the theodolite on a theodolite mounting table, and centering and adjusting the optical center of the theodolite and the mark of the backlight grid plate at the bottom of the supporting mechanism;
or the gyro part of the lower hanging type gyrotheodolite passes through the through hole of the upper bedplate of the gyrotheca, and is arranged on the gyrotheca, and the optical center of the theodolite part of the lower hanging type gyrotheodolite and the mark of the backlight grid plate at the bottom of the supporting mechanism are adjusted in a centering way;
and comparing the azimuth angle measured by the gyroscope to be calibrated or the lower hanging type gyrotheodolite with the true north, namely the zero-degree azimuth angle or the astronomical azimuth angle of the collimator, and judging.
10. The method of claim 9 wherein said comparing said measured azimuth to a true north, zero azimuth, comprises the steps of:
aiming a cross light target in an aiming part of a theodolite at a cross light target in a collimator, placing a gyroscope to be calibrated in a gyroscope rotary table, and performing horizontal adjustment; or aiming the cross light target in the aiming part of the theodolite part of the lower hanging type gyrotheodolite at the cross light target in the collimator tube;
step ii, rotating the gyroscope turntable by the azimuth angle of the collimator tube by using the angle adjusting mechanism and the theodolite part of the theodolite or the lower hanging type gyrotheodolite, wherein the direction is opposite to the azimuth angle of the collimator tube, and then finely adjusting by using the occlusion locking mechanism and locking the rotating angle;
and step iii, comparing the azimuth angle measured by the gyroscope to be calibrated or the lower hanging type gyrotheodolite with the true north, namely the zero-degree azimuth angle.
11. The method of claim 9 wherein the comparing the measured azimuth angle to the astronomical azimuth angle at which the collimator is located comprises the steps of:
placing a gyroscope to be calibrated in a gyroscope revolving platform, performing horizontal adjustment, rotating the gyroscope revolving platform by using an angle adjusting mechanism, and performing fine adjustment by combining an occlusion locking mechanism to enable an azimuth angle measured by the gyroscope to be calibrated to be a zero-degree azimuth angle;
or the gyroscope revolving platform is rotated by utilizing the angle adjusting mechanism, and fine adjustment is carried out by combining the occlusion locking mechanism, so that the azimuth angle measured by the lower hanging type gyrotheodolite is a zero-degree azimuth angle;
rotating the gyroscope revolving platform by using an angle adjusting mechanism, and finely adjusting by combining with an occlusion locking mechanism to enable a cross light target in a sighting part of a theodolite part of the theodolite or the lower hanging type gyrotheodolite to sight a cross light target in a collimator tube;
and step three, comparing the azimuth angle measured by the gyroscope to be calibrated or the lower hanging type gyrotheodolite with the astronomical azimuth angle of the collimator.
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| CN111854800B (en) * | 2020-07-27 | 2023-12-01 | 西安航光仪器厂 | Device and method for detecting constant self-calibration and drift amount of gyro north seeker |
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| 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 |
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