CN109470275B

CN109470275B - High-precision autonomous orientation method for photoelectric theodolite of motorized station

Info

Publication number: CN109470275B
Application number: CN201811538697.2A
Authority: CN
Inventors: 罗君; 蒋平; 张海清; 李欣; 潘年
Original assignee: Institute of Optics and Electronics of CAS
Current assignee: Institute of Optics and Electronics of CAS
Priority date: 2018-12-17
Filing date: 2018-12-17
Publication date: 2022-06-28
Anticipated expiration: 2038-12-17
Also published as: CN109470275A

Abstract

The invention discloses a high-precision autonomous orientation method for an electro-optic theodolite of a motorized cloth station, which adopts a combined orientation scheme of gyroscope rough orientation and polaris precise orientation. The gyro rough orientation is to install the gyro on the turntable of the photoelectric theodolite, utilize the principle that the components of the angular velocity of the earth rotation are unequal in all directions of the horizontal plane, adopt the gyro to sense the components of the earth angular velocity of different position points, and combine the gyro output and the information of the turntable encoder to obtain the rough orientation result of the photoelectric theodolite. After the coarse orientation is finished, controlling the azimuth angle of the visual axis of the photoelectric theodolite to be equal to the coarse orientation angle, controlling the pitch angle of the visual axis to be equal to the local latitude, introducing the polaris into the visual field of the photoelectric theodolite, and finishing the accurate orientation of the photoelectric theodolite according to astronomical azimuth angle calculation software. The method has high orientation precision and high orientation speed, fills the gap that the current photoelectric measuring equipment cannot be oriented autonomously, and meets the requirement of autonomous orientation of the photoelectric theodolite of the motorized station arrangement.

Description

High-precision autonomous orientation method for photoelectric theodolite of motorized station

Technical Field

The invention relates to the field of photoelectric measurement and control, in particular to a high-precision autonomous orientation method for a photoelectric theodolite of a motorized station arrangement.

Background

The photoelectric measuring equipment is a special measuring system which acquires flight target information by using an optical imaging principle, obtains required target characteristic parameters by processing and acquires flight live image data. High-precision orientation is the premise of the operation of photoelectric measuring equipment, and the existing photoelectric measuring equipment adopts an azimuth mark established in advance for aiming to realize orientation. The method has two disadvantages, namely, the method needs to establish the azimuth mark in advance, and is time-consuming and labor-consuming; secondly, the equipment must work at a specific point around the azimuth mark, and the station cannot be laid by a motor. With the diversification of aerial targets, modern optical measurement demands the maneuvering station-laying measurement of photoelectric measurement equipment, and the photoelectric measurement equipment is required to realize high-precision autonomous orientation without depending on an external azimuth mark.

The photoelectric measuring equipment has extremely high requirements on the orientation precision, the orientation precision is in an angle second level, the orientation reference must be mapped to an encoder of the photoelectric measuring equipment, and the orientation difficulty is high under the condition that an azimuth mark is not adopted. In modern measurement, the position of the distribution station of the photoelectric measurement device can be random, and obviously, the photoelectric measurement device cannot be provided with an azimuth mark for orientation. Therefore, the realization of high-precision orientation by the photoelectric measuring equipment is a precondition for realizing the measurement of the motorized cloth station.

Disclosure of Invention

The invention aims to solve the technical problem of high-precision autonomous orientation of the photoelectric theodolite of the motorized cloth station so as to meet the measurement requirement of the motorized cloth station of photoelectric measurement equipment. In order to solve the technical problems, the invention adopts the gyro coarse orientation and the polaris precise orientation technology to autonomously determine the north reference of the photoelectric measuring equipment.

The technical scheme adopted by the invention is as follows: a high-precision autonomous orientation method for a photoelectric theodolite of a motorized station, which adopts gyro coarse orientation and polaris precise orientation to autonomously determine the northbound reference of a photoelectric measuring device, comprises the following specific steps:

the method comprises the following steps that firstly, a coarse orientation device is mainly composed of a rotary table 1, an encoder 2 and a gyroscope 3, a sensitive shaft of the gyroscope 3 is parallel to the plane of the rotary table (1), and the coarse orientation step is as follows:

step 1: at rest, the output values of the gyroscope 3 and the encoder 2, ω, are acquired at position 1₁And theta_e1At the moment, the included angle between the sensitive axis of the gyroscope and the north direction is theta_gN1；

Step 2: the rotary table 1 rotates 180 degrees to the position 2, and when the rotary table is static, the output values of the gyroscope 3 and the encoder 2 are collected and are respectively omega₂And theta_e2At the moment, the included angle between the sensitive axis of the gyroscope and the north direction is theta_gN2Wherein theta_gN2＝180°-θ_gN1，θ_e2＝180°+θ_e1；

And step 3: calculating theta according to the data collected in the step 1 and the step 2 _gN1，

Wherein omega_eAnd

the rotational angular velocity and the geographical latitude of the earth are respectively, b is the zero offset of the gyroscope, the formula is simplified and obtained,

and 4, step 4: in the position 1, the included angle between the sensitive axis of the gyroscope and the north direction is theta_gN1At this time, the value of the encoder is θ_e1Thus, the encoder null and geographic north are at an angle θ_gN1+θ_e1；

Step two, accurate orientation of the polaris: controlling the movement of the visual axis of the photoelectric theodolite according to the result obtained in the step 4 to enable the azimuth angle to be equal to theta_gN1+θ_e1＝θ_EN1Pitch angle equals geographical latitude

The root mean square error of the coarse orientation is then σ_gThe polaris can be introduced into the field of view of the electro-optic theodolite, and the orientation and pitch angles of the polaris measured by the electro-optic theodolite are respectively A₁And E₁(ii) a The real azimuth angle A of the polaris relative to the station of the photoelectric theodolite can be obtained by adopting astronomical azimuth angle calculation software₂And E₂(ii) a According to the measured value A₁And E₁And a reference value A₂And E₂Correcting the zero position of the photoelectric longitude and latitude encoder to complete the photoelectric longitude and latitude orientation with the orientation value A₂。

Compared with the prior art, the invention has the beneficial effects that:

the orientation method of the photoelectric theodolite provided by the invention is realized by combining rough orientation of a gyroscope with precise orientation of a Polaris, does not need to establish an azimuth mark near the photoelectric theodolite in advance to provide an azimuth reference for equipment, is an autonomous orientation method, and fills the gap that the current photoelectric theodolite cannot be autonomously oriented. The method provided by the invention provides a position foundation for the maneuvering station distribution of the photoelectric theodolite, and expands the application field and application range of the photoelectric theodolite.

Drawings

FIG. 1 is a schematic diagram of a coarse gyro orientation structure of an optoelectronic measuring device of the present invention;

FIG. 2 is a schematic diagram of the operation of the gyroscope for coarse orientation in accordance with the present invention;

FIG. 3 is a schematic diagram of the fine orientation operation of the optoelectronic measuring device of the present invention.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

The autonomous orientation method of the photoelectric measuring equipment provided by the invention is not only suitable for the photoelectric measuring equipment of a fixed station, but also suitable for the photoelectric measuring equipment of a mobile station, and an azimuth mark does not need to be established near the photoelectric measuring equipment. Firstly, a gyroscope is adopted for coarse orientation, so that the orientation precision meets the requirement of introducing the polaris into the field of view of the photoelectric measurement equipment. After finding the polaris, the photoelectric measuring equipment adopts astronomical azimuth angle calculation software to realize the accurate orientation of the photoelectric measuring equipment.

As shown in fig. 1, the gyroscope 3 is mounted on the turntable 1 such that the sensitive axis of the gyroscope 3 and the plane of the turntable 1 remain parallel, and the encoders 2 are mounted on both sides of the turntable with respect to the mirror.

a. Coarse orientation, the orientation is carried out according to the following steps:

step 1: as shown in FIG. 2, OE₀For initial zero position of encoder, OG₁The gyroscope is in the direction of position 1, ON is the geographical north direction, and the output values of the gyroscope and the encoder are respectively omega when the turntable is at rest and the gyroscope and the encoder are collected at position 1 ₁And theta_e1At the moment, the included angle between the sensitive axis of the gyroscope and the north direction is theta_gN1。

Step 2: the turret is rotated 180 to position 2, shown in fig. 2, OG₂For the direction of the gyroscope in position 2, the output values of the gyroscope and the encoder, omega, respectively, are taken while the turntable is stationary₂And theta_e2At the moment, the included angle between the sensitive axis of the gyroscope and the north direction is theta_gN2Wherein theta_gN2＝180°-θ_gN1，θ_e2＝180°+θ_e1。

And step 3: the output of the gyroscope and the relation between the sensitive axis of the gyroscope and the north included angle are,

whereinω_eAnd

and 4, step 4: in the position 1, the included angle between the sensitive axis of the gyroscope and the north direction is theta_gN1At this time, the value of the encoder is θ_e1Thus, the encoder null and geographic north are at an angle θ_gN1+θ_e1。

b. Finely oriented, as shown in FIG. 3, OE₀For the initial zero position of the encoder, ON1 is the geographic north orientation determined for the coarse orientation of the gyroscope, ON2 is the north orientation determined for the North Star, σ_gIs the root mean square error of the gyro coarse orientation. Controlling the movement of the visual axis of the photoelectric measuring device to make the azimuth angle equal to theta_gN1+θ_e1＝θ_EN1Pitch angle equals geographical latitude

Introducing the polaris into the field of view of the photoelectric measurement equipment, wherein the azimuth and pitch angles of the polaris in the photoelectric measurement equipment are A respectively₁And E₁. The real azimuth angle A of the north star relative photoelectric measurement equipment station can be obtained by adopting astronomical azimuth angle calculation software ₂And E₂. According to the measured value A₁And E₁And a reference value A₂And E₂Correcting the zero position of the photoelectric longitude and latitude encoder to complete the photoelectric longitude and latitude orientation with the orientation value A₂。

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that the changes and modifications of the above embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.

Claims

1. A high-precision autonomous orientation method for an electro-optic theodolite of a motorized station distribution is characterized by comprising the following steps: the method adopts gyro rough orientation and polaris precise orientation to automatically determine the north reference of the photoelectric theodolite, and comprises the following specific steps:

the method comprises the following steps that firstly, a coarse orientation device consists of a rotary table (1), an encoder (2) and a gyroscope (3), a sensitive shaft of the gyroscope (3) is parallel to the plane of the rotary table (1), and the coarse orientation step is as follows:

step 1: under the static condition, the output values of the gyroscope (3) and the encoder (2) are acquired at the position 1 and are respectively omega₁And theta_e1At the moment, the included angle between the sensitive axis of the gyroscope and the north direction is theta_gN1；

Step 2: the turntable (1) rotates 180 degrees to the position 2, and when the turntable is static, the output values of the gyroscope (3) and the encoder (2) are collected and are respectively omega ₂And theta_e2At the moment, the included angle between the sensitive axis of the gyroscope and the north direction is theta_gN2Wherein theta_gN2＝180°-θ_gN1，θ_e2＝180°+θ_e1；

And step 3: calculating theta according to the data collected in the step 1 and the step 2_gN1，

Wherein ω is_eAnd

the rotational angular velocity and the geographical latitude of the earth are respectively, b is the zero offset of the gyroscope, the formula is simplified,

The root mean square error of the coarse orientation is then σ_gThe polaris are introduced into the visual field of the photoelectric theodolite, and the measured values of the azimuth and pitch angles of the polaris measured by the photoelectric theodolite are respectively A₁And E₁(ii) a Obtaining an azimuth and pitch angle reference value A of the polaris relative to the station of the photoelectric theodolite by adopting astronomical azimuth angle calculation software₂And E₂(ii) a From the azimuthal-elevation angle measurement A₁And E₁And azimuth and pitch angle reference value A₂And E₂Correcting the zero position of the encoder (2), namely finishing the orientation of the photoelectric theodolite, wherein the orientation value is A₂。