CN109470275A - A kind of electro-optic theodolite high-precision independent orientation method at motor-driven cloth station - Google Patents
A kind of electro-optic theodolite high-precision independent orientation method at motor-driven cloth station Download PDFInfo
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- CN109470275A CN109470275A CN201811538697.2A CN201811538697A CN109470275A CN 109470275 A CN109470275 A CN 109470275A CN 201811538697 A CN201811538697 A CN 201811538697A CN 109470275 A CN109470275 A CN 109470275A
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- Prior art keywords
- orientation
- electro
- optic theodolite
- gyro
- polaris
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
Abstract
The invention discloses a kind of electro-optic theodolite high-precision independent orientation method at motor-driven cloth station, this method is slightly oriented using gyro and the combination orientation scheme of Polaris essence orientation.Gyro slightly orient be by gyro installation on electro-optic theodolite turntable, using the component of rotational-angular velocity of the earth in the unequal principle of horizontal plane all directions, using the earth rate component of gyro sensitivity different location point, the thick orientation result of electro-optic theodolite can be obtained in conjunction with gyro output and turntable encoder information.After thick orientation is completed, the optical axis azimuth for controlling electro-optic theodolite is equal to thick directional angle, and the pitch angle of the optical axis is equal to local latitude, Polaris is introduced the visual field of electro-optic theodolite, according to astronomical azimuth software for calculation, completes electro-optic theodolite accurate pointing.The method of the present invention orientation accuracy is high, and directed velocity is fast, filled up current photoelectric measurement equipment can not autonomous heading blank, meet the demand of the electro-optic theodolite autonomous heading at motor-driven cloth station.
Description
Technical field
The present invention relates to photoelectric monitoring fields, and in particular to a kind of electro-optic theodolite high-precision independent orientation at motor-driven cloth station
Method.
Background technique
Photoelectric measurement equipment, which refers to, acquires airbound target information using optical imaging concept, and it is special to obtain required target through processing
Property parameter, and obtain the special measurement system of flight live image data.It is high-precision fixed to be photoelectric measurement equipment work before
It mentions, photoelectric measurement equipment realizes orientation using the azimuth mark established in advance is aimed at present.There are two disadvantages for this method, first is that needing
Azimuth mark is established in advance, it is time-consuming and laborious；Second is that equipment must work in the specified point around azimuth mark, it can not motor-driven cloth station.
With the diversification of aerial target, contemporary optics measurement proposes demand to the motor-driven cloth station measurement of photoelectric measurement equipment, needs light
Electrical measuring device can realize that high-precision independent is oriented in the case where not depending on external azimuth mark.
Requirement of the photoelectric measurement equipment to orientation accuracy is especially high, is rad grade, and orients benchmark and must map to photoelectricity
On the encoder of measuring device, it is bigger that difficulty is oriented in the case where not using azimuth mark.In modern surveying, photoelectric measurement
The position at equipment cloth station may be random, it is clear that the azimuth mark for orientation can not be provided for photoelectric measurement equipment.Therefore, lead to
Cross photoelectric measurement equipment itself complete it is high-precision fixed to being the premise realizing motor-driven cloth station and measuring.
Summary of the invention
The technical issues of the present invention is to solve the electro-optic theodolite high-precision independent at motor-driven cloth station orientations, to meet photoelectricity
The requirement of the motor-driven cloth station measurement of measuring device.In order to solve the above technical problems, the present invention is slightly oriented using gyro and Polaris is smart
Directional technology, it is autonomous to determine photoelectric measurement equipment north orientation benchmark.
The technical solution adopted by the present invention are as follows: a kind of electro-optic theodolite high-precision independent orientation method at motor-driven cloth station, it should
Method is slightly oriented using gyro and Polaris essence orientation, autonomous to determine photoelectric measurement equipment north orientation benchmark, the specific steps are as follows:
Step 1: thick orienting device is mainly made of turntable 1, encoder 2 and gyroscope 3, the sensitive axes of gyroscope 3 and turn
Platform (1) plane is parallel, and thick orientation step is as follows:
Step 1: under static position, acquiring the output valve of gyroscope 3 and encoder 2, respectively ω in position 11And θe1, this
When gyro sensitive axes and the angle of north orientation be θgN1；
Step 2: turntable 1 rotates 180 degree to position 2, when turntable is static, acquires the output valve of gyroscope 3 and encoder 2,
Respectively ω2And θe2, the angle of gyro sensitive axes and north orientation is θ at this timegN2, wherein θgN2=180 ° of-θgN1, θe2=180 ° of+θe1；
Step 3: calculating θ according to the data that step 1 and step 2 acquiregN1,
Wherein ωeWithRespectively rotational-angular velocity of the earth and geographic latitude, b are gyro zero bias, and simplifying above formula can obtain,
Step 4: at position 1, the angle of gyro sensitive axes and north orientation is θgN1, the value of encoder is θ at this timee1, therefore, compile
The angle of code device zero-bit and geographical north orientation is θgN1+θe1；
Step 2: Polaris essence orients: resulting according to step 4 as a result, control electro-optic theodolite optical axis movement, makes its side
Parallactic angle is equal to θgN1+θe1=θEN1, pitch angle is equal to geographic latitudeThe root-mean-square error slightly oriented at this time is σg, can be by the arctic
Star introduces in the visual field of electro-optic theodolite, and the azimuth of polaris pitch angle that electro-optic theodolite measures is respectively A1And E1；Using astronomy
Azimuthal angle calculation software can obtain true bearing pitch angle A of the Polaris with respect to electro-optic theodolite website2And E2；According to measured value
A1And E1And reference value A2And E2, the dead-center position of photoelectricity longitude and latitude encoder is corrected, that is, completes the orientation of photoelectricity longitude and latitude, orientation values
For A2。
Compared with prior art, the beneficial effects of the present invention are:
Electro-optic theodolite orientation method provided by the invention is slightly to orient that Polaris essence orientation is combined to realize by gyro,
It does not need to establish azimuth mark near electro-optic theodolite in advance to provide azimuth reference for equipment, is a kind of autonomous directional method,
This method filled up current electro-optic theodolite can not autonomous heading blank.Method provided by the invention is that electro-optic theodolite is motor-driven
Cloth station, which is surveyed, provides orientation basis, extends the application field and application range of electro-optic theodolite.
Detailed description of the invention
Fig. 1 is the thick oriented structure schematic diagram of photoelectric measurement equipment gyro of the present invention；
Fig. 2 is the thick directional operation schematic diagram of gyro of the present invention；
Fig. 3 is photoelectric measurement equipment essence directional operation schematic diagram of the present invention.
Specific embodiment
It elaborates with reference to the accompanying drawing to the present invention.
Photoelectric measurement equipment autonomous directional method proposed by the present invention, is applicable not only to fixed station photoelectric measurement equipment,
It is suitable for the photoelectric measurement equipment at motor-driven cloth station, does not need to establish azimuth mark near photoelectric measurement equipment.Gyro is used first
Thick orientation makes orientation accuracy meet the requirement that Polaris is introduced to photoelectric measurement equipment visual field.Photoelectric measurement equipment finds the arctic
After star, using astronomical azimuth software for calculation, photoelectric measurement equipment accurate pointing is realized.
As shown in Figure 1, gyroscope 3 is mounted on turntable 1, so that the sensitive axes of gyroscope 3 and the plane of turntable 1 are kept
In parallel, encoder 2 is mounted on turntable two sides to mirror.
A. thick orientation, is oriented according to the following steps:
Step 1: as shown in Fig. 2, OE0For the initial zero position of encoder, OG1It is gyroscope in the direction of position 1, ON is ground
North orientation direction is managed, turntable acquires the output valve of gyroscope and encoder, respectively ω in the stationary case, in position 11With
θe1, the angle of gyro sensitive axes and north orientation is θ at this timegN1。
Step 2: turntable rotates 180 ° and arrives position 2, as shown in Fig. 2, OG2It is gyroscope in the direction of position 2, it is quiet in turntable
When only, the output valve of gyroscope and encoder, respectively ω are acquired2And θe2, at this time the angle of gyro sensitive axes and north orientation be
θgN2, wherein θgN2=180 ° of-θgN1, θe2=180 ° of+θe1。
Step 3: the output of gyroscope and gyro sensitive axes and the relationship of north orientation angle are,
Wherein ωeWithRespectively rotational-angular velocity of the earth and geographic latitude, b are gyro zero bias, and simplifying above formula can obtain,
Step 4: at position 1, the angle of gyro sensitive axes and north orientation is θgN1, the value of encoder is θ at this timee1, therefore, compile
The angle of code device zero-bit and geographical north orientation is θgN1+θe1。
B. essence orientation, as shown in figure 3, OE0For the initial zero position of encoder, ON1 is that gyroscope slightly orients determining geography
North orientation, ON2 are the north orientation that Polaris determines, σgThe root-mean-square error slightly oriented for gyro.Control photoelectric measurement equipment optical axis fortune
It is dynamic, so that its azimuth is equal to θgN1+θe1=θEN1, pitch angle is equal to geographic latitudePolaris is introduced to the view of photoelectric measurement equipment
, azimuth pitch angle of the Polaris in photoelectric measurement equipment is respectively A at this time1And E1.Using astronomical azimuth software for calculation,
It can obtain true bearing pitch angle A of the Polaris with respect to photoelectric measurement equipment website2And E2.According to measured value A1And E1And reference
Value A2And E2, the dead-center position of photoelectricity longitude and latitude encoder is corrected, that is, completes the orientation of photoelectricity longitude and latitude, orientation values A2。
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, if in spirit of the invention, to embodiment described above variation,
Modification will all be fallen in the range of claims of the present invention.
Claims (1)
1. a kind of electro-optic theodolite high-precision independent orientation method at motor-driven cloth station, it is characterised in that: this method is thick using gyro
Orientation and Polaris essence orientation, it is autonomous to determine photoelectric measurement equipment north orientation benchmark, the specific steps are as follows:
Step 1: thick orienting device is mainly by turntable (1), encoder (2) and gyroscope (3) composition, the sensitive axes of gyroscope (3)
Parallel with turntable (1) plane, thick orientation step is as follows:
Step 1: under static position, acquiring the output valve of gyroscope (3) and encoder (2), respectively ω in position 11And θe1, this
When gyro sensitive axes and the angle of north orientation be θgN1；
Step 2: turntable (1) rotates 180 degree to position 2, when turntable is static, acquires the output of gyroscope (3) and encoder (2)
Value, respectively ω2And θe2, the angle of gyro sensitive axes and north orientation is θ at this timegN2, wherein θgN2=180 ° of-θgN1, θe2=180 °+
θe1；
Step 3: calculating θ according to the data that step 1 and step 2 acquiregN1,
Wherein ωeWithRespectively rotational-angular velocity of the earth and geographic latitude, b are gyro zero bias, and simplifying above formula can obtain,
Step 4: at position 1, the angle of gyro sensitive axes and north orientation is θgN1, the value of encoder is θ at this timee1, therefore, encoder
The angle of zero-bit and geographical north orientation is θgN1+θe1；
Step 2: Polaris essence orients: resulting according to step 4 as a result, control electro-optic theodolite optical axis movement, makes its azimuth
Equal to θgN1+θe1=θEN1, pitch angle is equal to geographic latitudeThe root-mean-square error slightly oriented at this time is σg, Polaris can be drawn
Enter in the visual field of electro-optic theodolite, the azimuth of polaris pitch angle that electro-optic theodolite measures is respectively A1And E1；Using astronomic azimuth
Angle software for calculation can obtain true bearing pitch angle A of the Polaris with respect to electro-optic theodolite website2And E2；According to measured value A1With
E1And reference value A2And E2, the dead-center position of photoelectricity longitude and latitude encoder is corrected, that is, completes the orientation of photoelectricity longitude and latitude, orientation values A2。
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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 |
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