CN109631952B - Method for calibrating installation error of attitude reference mirror of optical gyro component for spacecraft - Google Patents
Method for calibrating installation error of attitude reference mirror of optical gyro component for spacecraft Download PDFInfo
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Abstract
The invention belongs to the technical field of inertial measurement, and discloses a method for calibrating installation errors of an attitude reference mirror of an optical gyro assembly for a spacecraft, which comprises the following steps: 1. establishing an optical gyro sensitive axis constraint coordinate system 2, installing an optical gyro component on a standard hexahedron, adjusting an autocollimator 3, setting rotation excitation, determining the projection 4 of an equivalent rotation axis vector corresponding to the rotation excitation in an attitude reference mirror coordinate system and an optical gyro sensitive axis constraint coordinate system, determining the installation relation between the optical gyro sensitive axis constraint coordinate system and the attitude reference mirror coordinate system, and calibrating the installation error of the optical gyro component attitude reference mirror for the spacecraft. According to the invention, the extraction of the attitude of the gyro component is directly realized under the constraint coordinate system of the gyro sensitive axis, so that error sources influencing the extraction precision of the attitude of the gyro component are reduced; the high-precision three-axis turntable or other rate turntables are not needed, only the standard hexahedron is used as the mounting base of the gyro assembly, and the calibration can be completed by means of the L-shaped marble platform.
Description
Technical Field
The invention belongs to the technical field of inertial measurement, and particularly relates to a method for calibrating installation errors of an attitude reference mirror of an optical gyro assembly for a spacecraft.
Background
The optical gyroscope has the advantages of all solid state, good reliability, long service life and high measurement precision, and is widely applied in the field of aerospace. When the optical gyro component provides attitude reference information for spacecraft loads, the attitude of the gyro component needs to be led out by an optical measurement method, the attitude of the gyro component is led out by an optical reference mirror in a common method, and therefore the installation relationship between the gyro component and the optical reference mirror needs to be calibrated.
In the process of calibrating the installation relation between the gyro component and the optical reference mirror, calibration is usually completed by means of equipment such as a high-precision three-axis turntable, a standard hexahedron, a gyrotheodolite, a north reference and the like, and the method is complex to operate, multiple in error source and long in time consumption. According to the traditional method, a high-precision three-axis turntable coordinate system or a standard hexahedron is used as a transition coordinate system, the installation error of the gyro component is calibrated to be below the transition coordinate system, and then the posture of the gyro component is led out by using the transition coordinate system as a reference and through an optical reference mirror. The installation error of the gyro component is calibrated by taking the transition coordinate system as a reference, and then the attitude of the gyro component is led out, so that a new error source (such as deformation influence of a shock absorber of the gyro component) is added, and the attitude leading-out precision of the gyro component can be influenced. In addition, posture extraction is realized through a transitional coordinate system, so that the process is complicated.
The method has the advantages that the problem that the calibration precision is influenced by the deformation of the vibration absorber of the gyro assembly can be solved by calibrating the installation error of the gyro assembly under the constraint coordinate system of the gyro sensitive axis, the attitude of the gyro assembly is directly led out through the constraint coordinate system of the gyro sensitive axis, error sources are reduced, the operation is simpler, but the installation error between the constraint coordinate system of the gyro sensitive axis and the optical reference mirror is difficult to calibrate by directly utilizing an optical measurement method because the space of the constraint coordinate system of the gyro sensitive axis is invisible, great difficulty is brought to the leading-out of the attitude of the gyro assembly through the optical reference mirror, and no related research exists at present. Aiming at the problems, an optical gyro component posture leading-out method which is simple in operation, short in time consumption and high in precision is needed to be found under a gyro sensitive axis constraint coordinate system, a high-precision three-axis turntable or other rate turntables which are expensive are not needed, a standard hexahedron is only needed to be used as a mounting base of a gyro component, and the calibration of mounting errors between the gyro sensitive axis constraint coordinate system and an optical reference mirror can be completed by means of an L-shaped marble platform.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the extraction of the attitude of the gyro assembly is directly realized under a gyro sensitive axis constraint coordinate system without a transition coordinate system, so that error sources influencing the extraction precision of the attitude of the gyro assembly are reduced; the posture leading-out method is simple to operate, a high-precision three-axis turntable with high price or other rate turntables are not needed, only a standard hexahedron is used as a mounting base of the gyro component, and the calibration of the mounting error between the gyro sensitive axis constraint coordinate system and the optical reference mirror can be completed by means of the L-shaped marble platform.
In order to solve the technical problems, the solution proposed by the invention is as follows:
a method for calibrating installation errors of an attitude reference mirror of an optical gyro component for a spacecraft uses an L-shaped marble platform 1, a standard hexahedron 2 and an autocollimator 3 and utilizes the measurement output information of the optical gyro component 4 to calibrate the installation errors between the optical gyro component 4 and the attitude reference mirror 5, and comprises the following steps:
(1) establishing a constraint coordinate system of the sensitive axis of the optical gyro, and determining the installation error parameters of the optical gyro component 4 under the constraint coordinate system, wherein the sensitive axis ox of the X gyro is usedgFor constraining x of a coordinate systembAxis, y of a constrained coordinate systembAxis is at X top sensitive axis oxgAnd the sensitive axis oy of the Y gyroscopegIn the plane of the formation, z of the constrained coordinate systembAxis and xbAxis, ybThe axes form a right-hand orthogonal coordinate system, and the optical gyro sensitive axis constraint coordinate system is defined as a body coordinate system b of the optical gyro component 4;
when the installation error of the optical gyro component 4 is calibrated under the constraint coordinate system of the sensitive axis of the optical gyro, a multi-position calibration method can be adopted, and a system-level calibration method based on a Kalman filter can also be adopted; according to the invention, the installation error parameters of the optical gyro assembly are determined under the optical gyro sensitive axis constraint coordinate system, but not under the high-precision three-axis turntable coordinate system, so that the influence of the deformation of the vibration absorber on the calibration precision of the installation error parameters of the optical gyro assembly can be avoided, the error source influencing the posture extraction precision of the optical gyro assembly is reduced, and the guarantee is provided for realizing the high-precision posture extraction.
(2) After the optical gyro component 4 is subjected to installation error parameter calibration, adhering an optical reference mirror to the optical gyro component 4 to serve as an attitude reference mirror 5; then, the standard hexahedron 2 is used as a mounting base of the optical gyro assembly 4, the optical gyro assembly 4 is mounted on the standard hexahedron 2, and finally the standard hexahedron 2 is placed on the L-shaped marble platform 1 after leveling, wherein the surface a 6 and the surface b 7 of the standard hexahedron 2 are required to be close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1;
(3) defining a coordinate system of the attitude reference mirror 5, and taking the coordinate system of the attitude reference mirror 5 as an attitude leading-out reference of the optical gyro component 4, wherein the coordinate system of the attitude reference mirror 5 is defined as: taking the normal of one side surface of the attitude reference mirror 5 as xpAxis with the normal of its adjacent side and top surfaces as ypAxis, zpAxis, and xpAxis, ypAxis, zpThe axes constitute a right-hand orthogonal coordinate system, and x at this timepThe axis is in the same direction with the normal direction of the vertical surface 13 of the L-shaped marble platform 1;
(4) the method for setting the rotation excitation and determining the projection of the equivalent rotation axis vector corresponding to the rotation excitation in the coordinate system of the attitude reference mirror 5 comprises the following steps:
(4.1) placing the autocollimator 3 on the horizontal plane of the L-shaped marble platform 1, and adjusting the optical axis of the autocollimator 3 to aim at the x of the attitude reference mirror 5pThe shaft is subjected to auto-collimation reading to obtain a pitch angle reading theta1；
(4.2) rotating the standard hexahedron 2 anticlockwise around the azimuth axis, after the rotation is finished, the surface a 6 and the surface d 9 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1, the autocollimator 3 keeps still before and after the standard hexahedron 2 rotates, at the moment, the autocollimator 3 is used again for performing autocollimation reading, and a pitch angle reading theta is obtained2；
(4.3) continuing to rotate the standard hexahedron 2 anticlockwise around the azimuth axis, after the rotation is finished, the surface a 6 and the surface f 11 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1, the autocollimator 3 keeps still before and after the standard hexahedron 2 rotates, at the moment, the autocollimator 3 is used for performing autocollimation reading, and a pitch angle reading theta is obtained3；
(4.4) determination of step (4.2) - (C)4.3) projection u of the equivalent rotation axis vector corresponding to the rotary excitation in the coordinate system of the attitude reference mirror 5pThe equivalent rotation axis vector and xpThe angle of the axes being
The equivalent rotation axis vector and ypThe angle of the axes being
The equivalent rotation axis vector and zpThe angle of the axes being
Therefore, the projection u of the equivalent rotation axis vector corresponding to the rotation excitation in the steps (4.2) - (4.3) in the coordinate system of the attitude reference mirror (5)pIs up＝[α1β1γ1]T；
(4.5) continuing rotating the standard hexahedron 2 anticlockwise around the azimuth axis, wherein the surface a 6 and the surface b 7 of the standard hexahedron 2 are close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished; and then the standard hexahedron 2 is rotated clockwise around the pitch axis, the d surface 9 and the a surface 6 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1 after the rotation is finished, the autocollimator 3 keeps still before and after the standard hexahedron 2 rotates, the autocollimator 3 is used again for autocollimation reading at the moment, and the pitch angle reading theta is obtained4；
(4.6) continuing to rotate the standard hexahedron 2 clockwise around the azimuth axis, after the rotation is finished, the d surface 9 and the c surface 8 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1, the autocollimator 3 keeps still before and after the standard hexahedron 2 rotates, at the moment, the autocollimator 3 is used for performing autocollimation reading, and a pitch angle reading theta is obtained5；
(4.7) continuing to rotate the standard hexahedron 2 clockwise around the azimuth axis, after the rotation is finished, the d surface 9 and the f surface 11 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1, the autocollimator 3 keeps still before and after the standard hexahedron 2 rotates, and at the moment, the autocollimator 3 is reused for autocollimation readingTo obtain a pitch angle reading theta6；
(4.8) determining the projection v of the equivalent rotation axis vector corresponding to the rotation excitation in steps (4.6) - (4.7) in the coordinate system of the attitude reference mirror 5pThe equivalent rotation axis vector and zpThe angle of the axes being
The equivalent rotation axis vector and ypThe angle of the axes being
The equivalent rotation axis vector and xpThe angle of the axes being
Therefore, the projection u of the equivalent rotation axis vector corresponding to the rotation excitation in the steps (4.6) - (4.7) in the coordinate system of the attitude reference mirror (5)pIs v isp＝[α2β2γ2]T；
(4.9) continuing to rotate the standard hexahedron 2 clockwise around the azimuth axis, wherein the d surface 9 and the a surface 6 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1 after the rotation is finished; further anticlockwise rotating the standard hexahedron 2 around the pitch axis, wherein the surfaces a 6 and b 7 of the standard hexahedron 2 are close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished;
(5) the method comprises the following steps of setting rotation excitation and determining the projection of an equivalent rotation axis vector corresponding to the rotation excitation in a sensitive axis constraint coordinate system of the optical gyroscope, wherein the projection comprises the following steps:
(5.1) rotating the standard hexahedron 2360 degrees around the azimuth axis anticlockwise, keeping the a surface 6 and the b surface 7 of the standard hexahedron 2 close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished, keeping the standard hexahedron 2360 degrees after the rotation is finished, further rotating the standard hexahedron 2360 degrees around the azimuth axis clockwise, keeping the a surface 6 and the b surface 7 of the standard hexahedron 2 close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished, and keeping the standard hexahedron 2 still for 60 seconds after the rotation is finished;
(5.2) determining the equivalent rotation axis vector corresponding to the counterclockwise rotation excitation in the step (5.1)Projection u in optical gyro sensitive axis constrained coordinate system+By the following steps:
(5.2.1) determining the start of the counterclockwise rotation of the parallelepiped 2 in the step (5.1)
The initial attitude matrix of the temporal optical gyro assembly 4 is
That is to say, the
Solidifying a coordinate system b of the optical gyro component 4 at a moment into an inertia coordinate system I, wherein I represents a third-order unit matrix;
(5.2.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i, wherein
In the form of a matrix of poses,
the angular velocity of rotation output by the optical gyro component 4 is updated by the following manner:
Wherein the content of the first and second substances,
respectively represent tk-1、tkAttitude matrix at time, σ is [ t ]k-1,tk-1]The corresponding equivalent rotation vector of the rotational excitation is rotated in time period △ t,| σ | is the modulus of σ, △ θ1、△θ2、△θ3Respectively representing angular velocities of rotation
In a period of time
Time period
Time period
The angular increment corresponding thereto;
(5.2.3) obtaining the end of the counterclockwise rotation of the standard hexahedron 2 by resolving according to the attitude matrix differential equation
Attitude quaternion of temporal optical gyro component (4)
(5.2.4) determining the projection u of the corresponding equivalent rotation axis vector in the optical gyro sensitive axis constraint coordinate system during counterclockwise rotation+Expressed as:
in the formula, mu+Is taken as
To represent
Row j, column k elements;
(5.3) determining that the clockwise rotation stimulus in step (5.1) corresponds toThe projection u of the equivalent rotation axis vector in the sensitive axis constraint coordinate system of the optical gyro-By the following steps:
(5.3.1) determining the start of the clockwise rotation of the parallelepiped 2 in step (5.1)
The initial attitude matrix of the temporal optical gyro assembly 4 is
That is to say, the
Solidifying the coordinate system b of the optical gyro component 4 at the moment into an inertial coordinate system i;
(5.3.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i;
(5.3.3) solving according to the attitude matrix differential equation to obtain the end of clockwise rotation of the standard hexahedron 2
Attitude quaternion for temporal optical gyro-assembly 4
(5.3.4) determining the projection u of the equivalent rotation axis vector corresponding to the clockwise rotation in the optical gyro sensitive axis constraint coordinate system-Expressed as:
in the formula, mu-Is taken as
To represent
Row j, column k elements;
(5.4) determining the projection u of the equivalent rotation axis vector corresponding to the rotation excitation in the step (5.1) in the optical gyro sensitive axis constraint coordinate systembIs composed of
(5.5) clockwise rotating the standard hexahedron 2 around the pitch axis, enabling the d surface 9 and the a surface 6 of the standard hexahedron 2 to be close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1 after the rotation is finished, and keeping the standard hexahedron 2 still for 60s after the rotation is finished;
(5.6) clockwise rotating the standard hexahedron 2360 degrees around the azimuth axis, keeping the d surface 9 and the a surface 6 of the standard hexahedron 2 close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished, keeping the standard hexahedron 2360 degrees after the rotation is finished, further anticlockwise rotating the standard hexahedron 2360 degrees around the azimuth axis, keeping the d surface 9 and the a surface 6 of the standard hexahedron 2 close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished, and keeping the standard hexahedron 2 still for 60 seconds after the rotation is finished;
(5.7) determining the projection v of the equivalent rotation axis vector corresponding to the clockwise rotation excitation in the step (5.6) in the optical gyro sensitive axis constraint coordinate system+By the following steps:
(5.7.1) determination of the start of clockwise rotation of the standard hexahedron 2 in step (5.6)
The initial attitude matrix of the temporal optical gyro assembly 4 is
That is to say, the
Solidifying the coordinate system b of the optical gyro component 4 at the moment into an inertial coordinate system i;
(5.7.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i;
(5.7.3) solving according to the attitude matrix differential equation to obtain the end of clockwise rotation of the standard hexahedron 2
Attitude quaternion for temporal optical gyro-assembly 4
(5.7.4) determining the projection v of the equivalent rotation axis vector corresponding to the clockwise rotation in the optical gyro sensitive axis constraint coordinate system+Expressed as:
in the formula, u+Is taken as
To represent
Row j, column k elements;
(5.8) determining the projection v of the equivalent rotation axis vector corresponding to the anticlockwise rotation excitation in the step (5.6) in the optical gyro sensitive axis constraint coordinate system-By the following steps:
(5.8.1) determination of the start of the anticlockwise rotation of the parallelepiped 2 in step (5.1)
The initial attitude matrix of the temporal optical gyro assembly 4 is
That is to say, the
Solidifying the coordinate system b of the optical gyro component 4 at the moment into an inertial coordinate system i;
(5.8.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i;
(5.8.3) solving according to the attitude matrix differential equation to obtain the end of the counterclockwise rotation of the standard hexahedron 2
Attitude quaternion for temporal optical gyro-assembly 4
(5.8.4) determining the projection v of the corresponding equivalent rotation axis vector in the optical gyro sensitive axis constraint coordinate system when rotating anticlockwise-Expressed as:
in the formula, u-Is taken as
To represent
Row j, column k elements;
(5.9) determining the projection v of the equivalent rotation axis vector corresponding to the rotation excitation in the step (5.6) in the optical gyro sensitive axis constraint coordinate systembIs composed of
(6) Determining the installation relation between the constraint coordinate system of the sensitive axis of the optical gyro and the coordinate system of the attitude reference mirror 5
Wherein the content of the first and second substances,
and further, when the attitude information of the optical gyro component 4 needs to be led out, the installation relation between the constraint coordinate system of the optical gyro sensitive axis and the coordinate system of the attitude reference mirror 5 can be corrected
And high-precision posture information extraction is realized.
Compared with the prior art, the invention has the advantages that:
(1) according to the invention, the extraction of the attitude of the gyro component is directly realized under the gyro sensitive axis constraint coordinate system without a transition coordinate system, so that error sources influencing the extraction precision of the attitude of the gyro component are reduced;
(2) the method is simple to operate, a high-precision three-axis turntable or other rate turntables with high price are not needed, only a standard hexahedron is used as a mounting base of the gyro component, and the calibration of the mounting error between the gyro sensitive axis constraint coordinate system and the attitude reference mirror can be completed by means of the L-shaped marble platform;
(3) the invention fully utilizes the attitude information output by the high-precision optical gyro component, and can improve the calibration precision of the installation error between the gyro sensitive axis constraint coordinate system and the attitude reference mirror.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a constraint coordinate system of the sensitive axis of an optical gyroscope;
FIG. 3 is a coordinate system of an attitude reference mirror and a constraint coordinate system of a sensitive axis of an optical gyroscope;
FIG. 4 is a schematic view of the present invention;
fig. 5 is a schematic view of the faces of a standard hexahedron.
Reference numerals:
1-L type marble platform, 2-standard hexahedron, 3-autocollimator, 4-optical gyroscope component, 5-attitude reference mirror, 6-standard hexahedron a surface, 7-standard hexahedron b surface, 8-standard hexahedron c surface, 9-standard hexahedron d surface, 10-standard hexahedron e surface, 11-standard hexahedron f surface, 12-L type marble platform horizontal surface, and 13-L type marble platform vertical surface.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in fig. 1, the method for calibrating the installation error of the attitude reference mirror of the optical gyro component for the spacecraft, according to the present invention, comprises: establishing an optical gyro sensitive axis constraint coordinate system, installing an optical gyro component on a standard hexahedron, adjusting an autocollimator, setting rotation excitation, determining the projection of an equivalent rotation axis vector corresponding to the rotation excitation in an attitude reference mirror coordinate system and the optical gyro sensitive axis constraint coordinate system, determining the installation relation between the optical gyro sensitive axis constraint coordinate system and the attitude reference mirror coordinate system, and calibrating the installation error of the optical gyro component attitude reference mirror for the spacecraft.
By combining with a specific application example, the specific process of the invention is as follows:
a method for calibrating installation errors of an optical gyro component attitude reference mirror for a spacecraft uses an L-shaped marble platform 1, a standard hexahedron 2 and an autocollimator 3 and utilizes the measurement output information of an optical gyro component 4 to calibrate the installation errors between the optical gyro component 4 and the attitude reference mirror 5 (shown in figures 4 and 5), and comprises the following steps:
(1) as shown in fig. 2 and 3, establishing a constraint coordinate system of the sensitive axis of the optical gyro, and defining the installation error parameters of the optical gyro assembly 4 under the constraint coordinate system, wherein the sensitive axis ox of the X gyro is usedgFor constraining x of a coordinate systembAxis, y of a constrained coordinate systembAxis is at X top sensitive axis oxgAnd the sensitive axis oy of the Y gyroscopegFormed flatIn-plane, z of a constrained coordinate systembAxis and xbAxis, ybThe axes form a right-hand orthogonal coordinate system, and the optical gyro sensitive axis constraint coordinate system is defined as a body coordinate system b of the optical gyro component 4;
when the installation error of the optical gyro component 4 is calibrated under the constraint coordinate system of the sensitive axis of the optical gyro, a multi-position calibration method can be adopted, and a system-level calibration method based on a Kalman filter can also be adopted; according to the invention, the installation error parameters of the optical gyro assembly are determined under the optical gyro sensitive axis constraint coordinate system, but not under the high-precision three-axis turntable coordinate system, so that the influence of the deformation of the vibration absorber on the calibration precision of the installation error parameters of the optical gyro assembly can be avoided, the error source influencing the posture extraction precision of the optical gyro assembly is reduced, and the guarantee is provided for realizing the high-precision posture extraction.
(2) After the optical gyro component 4 is subjected to installation error parameter calibration, adhering an optical reference mirror to the optical gyro component 4 to serve as an attitude reference mirror 5; then, the standard hexahedron 2 is used as a mounting base of the optical gyro assembly 4, the optical gyro assembly 4 is mounted on the standard hexahedron 2, and finally the standard hexahedron 2 is placed on the L-shaped marble platform 1 after leveling, wherein the surface a 6 and the surface b 7 of the standard hexahedron 2 are required to be close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1;
(3) as shown in fig. 3 and 4, defining a coordinate system of the attitude reference mirror 5, and taking the coordinate system of the attitude reference mirror 5 as an attitude lead-out reference of the optical gyro assembly 4, wherein the coordinate system of the attitude reference mirror 5 is defined as: taking the normal of one side surface of the attitude reference mirror 5 as xpAxis with the normal of its adjacent side and top surfaces as ypAxis, zpAxis, and xpAxis, ypAxis, zpThe axes constitute a right-hand orthogonal coordinate system, and x at this timepThe axis is in the same direction with the normal direction of the vertical surface 13 of the L-shaped marble platform 1;
(4) the method for setting the rotation excitation and determining the projection of the equivalent rotation axis vector corresponding to the rotation excitation in the coordinate system of the attitude reference mirror 5 comprises the following steps:
(4.1) mixingPlacing the autocollimator 3 on the horizontal plane of the L-shaped marble platform 1, and adjusting the optical axis of the autocollimator 3 to aim at x of the attitude reference mirror 5pThe shaft is subjected to auto-collimation reading to obtain a pitch angle reading theta1；
(4.2) rotating the standard hexahedron 2 anticlockwise around the azimuth axis, after the rotation is finished, the surface a 6 and the surface d 9 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1, the autocollimator 3 keeps still before and after the standard hexahedron 2 rotates, at the moment, the autocollimator 3 is used again for performing autocollimation reading, and a pitch angle reading theta is obtained2；
(4.3) continuing to rotate the standard hexahedron 2 anticlockwise around the azimuth axis, after the rotation is finished, the surface a 6 and the surface f 11 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1, the autocollimator 3 keeps still before and after the standard hexahedron 2 rotates, at the moment, the autocollimator 3 is used for performing autocollimation reading, and a pitch angle reading theta is obtained3；
(4.4) determining the projection u of the equivalent rotation axis vector corresponding to the rotation excitation in the steps (4.2) - (4.3) in the coordinate system of the attitude reference mirror 5pThe equivalent rotation axis vector and xpThe angle of the axes being
The equivalent rotation axis vector and ypThe angle of the axes being
The equivalent rotation axis vector and zpThe angle of the axes being
Therefore, the projection u of the equivalent rotation axis vector corresponding to the rotation excitation in the steps (4.2) - (4.3) in the coordinate system of the attitude reference mirror (5)pIs up＝[α1β1γ1]T；
(4.5) continuing rotating the standard hexahedron 2 anticlockwise around the azimuth axis, wherein the surface a 6 and the surface b 7 of the standard hexahedron 2 are close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished; and further clockwise about the pitch axisRotating the standard hexahedron 2, wherein the d surface 9 and the a surface 6 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1 after the rotation is finished, the autocollimator 3 keeps still before and after the standard hexahedron 2 rotates, and at the moment, the autocollimator 3 is used again to perform autocollimation reading to obtain a pitch angle reading theta4；
(4.6) continuing to rotate the standard hexahedron 2 clockwise around the azimuth axis, after the rotation is finished, the d surface 9 and the c surface 8 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1, the autocollimator 3 keeps still before and after the standard hexahedron 2 rotates, at the moment, the autocollimator 3 is used for performing autocollimation reading, and a pitch angle reading theta is obtained5；
(4.7) continuing to rotate the standard hexahedron 2 clockwise around the azimuth axis, after the rotation is finished, the d surface 9 and the f surface 11 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1, the autocollimator 3 keeps still before and after the standard hexahedron 2 rotates, at the moment, the autocollimator 3 is used again for performing autocollimation reading, and a pitch angle reading theta is obtained6；
(4.8) determining the projection v of the equivalent rotation axis vector corresponding to the rotation excitation in steps (4.6) - (4.7) in the coordinate system of the attitude reference mirror 5pThe equivalent rotation axis vector and zpThe angle of the axes being
The equivalent rotation axis vector and ypThe angle of the axes being
The equivalent rotation axis vector and xpThe angle of the axes being
Therefore, the projection u of the equivalent rotation axis vector corresponding to the rotation excitation in the steps (4.6) - (4.7) in the coordinate system of the attitude reference mirror (5)pIs v isp＝[α2β2γ2]T；
(4.9) continuing to rotate the standard hexahedron 2 clockwise around the azimuth axis, wherein the d surface 9 and the a surface 6 of the standard hexahedron 2 are close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1 after the rotation is finished; further anticlockwise rotating the standard hexahedron 2 around the pitch axis, wherein the surfaces a 6 and b 7 of the standard hexahedron 2 are close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished;
(5) the method comprises the following steps of setting rotation excitation and determining the projection of an equivalent rotation axis vector corresponding to the rotation excitation in a sensitive axis constraint coordinate system of the optical gyroscope, wherein the projection comprises the following steps:
(5.1) rotating the standard hexahedron 2360 degrees around the azimuth axis anticlockwise, keeping the a surface 6 and the b surface 7 of the standard hexahedron 2 close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished, keeping the standard hexahedron 2360 degrees after the rotation is finished, further rotating the standard hexahedron 2360 degrees around the azimuth axis clockwise, keeping the a surface 6 and the b surface 7 of the standard hexahedron 2 close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished, and keeping the standard hexahedron 2 still for 60 seconds after the rotation is finished;
(5.2) determining the projection u of the equivalent rotation axis vector corresponding to the anticlockwise rotation excitation in the step (5.1) in the optical gyro sensitive axis constraint coordinate system+By the following steps:
(5.2.1) determining the start of the counterclockwise rotation of the parallelepiped 2 in the step (5.1)
The initial attitude matrix of the temporal optical gyro assembly 4 is
That is to say, the
Solidifying a coordinate system b of the optical gyro component 4 at a moment into an inertia coordinate system I, wherein I represents a third-order unit matrix;
(5.2.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i, wherein
In the form of a matrix of poses,
the angular velocity of rotation output by the optical gyro component 4 is updated by the following manner:
Wherein the content of the first and second substances,
respectively represent tk-1、tkAttitude matrix at time, σ is [ t ]k-1,tk-1]The equivalent rotation vector corresponding to the rotation excitation in the time period △ t, | σ | is the modulus of σ, △ θ1、△θ2、△θ3Respectively representing angular velocities of rotation
In a period of time
Time period
Time period
The angular increment corresponding thereto;
(5.2.3) obtaining the end of the counterclockwise rotation of the standard hexahedron 2 by resolving according to the attitude matrix differential equation
Attitude quaternion of temporal optical gyro component (4)
(5.2.4) determining the projection u of the corresponding equivalent rotation axis vector in the optical gyro sensitive axis constraint coordinate system during counterclockwise rotation+Expressed as:
in the formula, mu+Is taken as
To represent
Row j, column k elements;
(5.3) determining the projection u of the equivalent rotation axis vector corresponding to the clockwise rotation excitation in the step (5.1) in the optical gyro sensitive axis constraint coordinate system-By the following steps:
(5.3.1) determining the start of the clockwise rotation of the parallelepiped 2 in step (5.1)
The initial attitude matrix of the temporal optical gyro assembly 4 is
That is to say, the
Solidifying the coordinate system b of the optical gyro component 4 at the moment into an inertial coordinate system i;
(5.3.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i;
(5.3.3) obtaining the standard by resolving according to the attitude matrix differential equationThe hexahedron 2 is rotated clockwise
Attitude quaternion for temporal optical gyro-assembly 4
(5.3.4) determining the projection u of the equivalent rotation axis vector corresponding to the clockwise rotation in the optical gyro sensitive axis constraint coordinate system-Expressed as:
in the formula, mu-Is taken as
To represent
Row j, column k elements;
(5.4) determining the projection u of the equivalent rotation axis vector corresponding to the rotation excitation in the step (5.1) in the optical gyro sensitive axis constraint coordinate systembIs composed of
(5.5) clockwise rotating the standard hexahedron 2 around the pitch axis, enabling the d surface 9 and the a surface 6 of the standard hexahedron 2 to be close to the horizontal surface 12 and the vertical surface 13 of the L-shaped marble platform 1 after the rotation is finished, and keeping the standard hexahedron 2 still for 60s after the rotation is finished;
(5.6) clockwise rotating the standard hexahedron 2360 degrees around the azimuth axis, keeping the d surface 9 and the a surface 6 of the standard hexahedron 2 close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished, keeping the standard hexahedron 2360 degrees after the rotation is finished, further anticlockwise rotating the standard hexahedron 2360 degrees around the azimuth axis, keeping the d surface 9 and the a surface 6 of the standard hexahedron 2 close to the horizontal plane 12 and the vertical plane 13 of the L-shaped marble platform 1 after the rotation is finished, and keeping the standard hexahedron 2 still for 60 seconds after the rotation is finished;
(5.7) determining the projection v of the equivalent rotation axis vector corresponding to the clockwise rotation excitation in the step (5.6) in the optical gyro sensitive axis constraint coordinate system+By the following steps:
(5.7.1) determination of the start of clockwise rotation of the standard hexahedron 2 in step (5.6)
The initial attitude matrix of the temporal optical gyro assembly 4 is
That is to say, the
Solidifying the coordinate system b of the optical gyro component 4 at the moment into an inertial coordinate system i;
(5.7.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i;
(5.7.3) solving according to the attitude matrix differential equation to obtain the end of clockwise rotation of the standard hexahedron 2
Attitude quaternion for temporal optical gyro-assembly 4
(5.7.4) determining the projection v of the equivalent rotation axis vector corresponding to the clockwise rotation in the optical gyro sensitive axis constraint coordinate system+Expressed as:
in the formula, u+Is taken as
To represent
Row j, column k elements;
(5.8) determining the projection v of the equivalent rotation axis vector corresponding to the anticlockwise rotation excitation in the step (5.6) in the optical gyro sensitive axis constraint coordinate system-By the following steps:
(5.8.1) determination of the start of the anticlockwise rotation of the parallelepiped 2 in step (5.1)
The initial attitude matrix of the temporal optical gyro assembly 4 is
That is to say, the
Solidifying the coordinate system b of the optical gyro component 4 at the moment into an inertial coordinate system i;
(5.8.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i;
(5.8.3) solving according to the attitude matrix differential equation to obtain the end of the counterclockwise rotation of the standard hexahedron 2
Attitude quaternion for temporal optical gyro-assembly 4
(5.8.4) determining the equivalent rotation axis vector corresponding to the anticlockwise rotation in the optical gyro sensitive axis constraint coordinate systemProjection v-Expressed as:
in the formula, u-Is taken as
To represent
Row j, column k elements;
(5.9) determining the projection v of the equivalent rotation axis vector corresponding to the rotation excitation in the step (5.6) in the optical gyro sensitive axis constraint coordinate systembIs composed of
(6) Determining the installation relation between the constraint coordinate system of the sensitive axis of the optical gyro and the coordinate system of the attitude reference mirror 5
Wherein the content of the first and second substances,
and further, when the attitude information of the optical gyro component 4 needs to be led out, the installation relation between the constraint coordinate system of the optical gyro sensitive axis and the coordinate system of the attitude reference mirror 5 can be corrected
And high-precision posture information extraction is realized.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (1)
1. A method for calibrating installation errors of an optical gyro component attitude reference mirror for a spacecraft uses an L-shaped marble platform (1), a standard hexahedron (2) and an autocollimator (3) and outputs information by means of measurement of the optical gyro component (4) per se to calibrate the installation errors between the optical gyro component (4) and the attitude reference mirror (5), and is characterized in that: the method comprises the following steps:
(1) establishing a constraint coordinate system of the sensitive axis of the optical gyro, and determining the installation error parameters of the optical gyro component (4) under the constraint coordinate system, wherein the sensitive axis ox of the X gyro is usedgFor constraining x of a coordinate systembAxis, y of a constrained coordinate systembAxis is at X top sensitive axis oxgAnd the sensitive axis oy of the Y gyroscopegIn the plane of the formation, z of the constrained coordinate systembAxis and xbAxis, ybThe axes form a right-hand orthogonal coordinate system, and the optical gyro sensitive axis constraint coordinate system is defined as a body coordinate system b of the optical gyro component (4);
(2) after the calibration of the installation error parameters of the optical gyro component (4) is finished, the optical reference mirror is glued to the optical gyro component (4) to be used as an attitude reference mirror (5); then, the standard hexahedron (2) is used as a mounting base of the optical gyro component (4), the optical gyro component (4) is mounted on the standard hexahedron (2), and finally the standard hexahedron (2) is placed on the L-shaped marble platform (1) after leveling, wherein the surface a (6) and the surface b (7) of the standard hexahedron (2) need to be close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1);
(3) defining a coordinate system of the attitude reference mirror (5), and taking the coordinate system of the attitude reference mirror (5) as an attitude extraction reference of the optical gyro component (4), wherein the coordinate system of the attitude reference mirror (5) is defined as: taking the normal of one side surface of the attitude reference mirror (5) as xpAxis with the normal of its adjacent side and top surfaces as ypAxis, zpAxis, and xpAxis, ypAxis, zpThe axes constitute a right-hand orthogonal coordinate system, and x at this timepThe axis is consistent with the normal direction of the vertical surface (13) of the L-shaped marble platform (1);
(4) setting a rotation excitation and determining the projection of an equivalent rotation axis vector corresponding to the rotation excitation in the coordinate system of the attitude reference mirror (5), comprising the steps of:
(4.1) placing the autocollimator (3) on the horizontal plane of the L-shaped marble platform (1), and adjusting the optical axis of the autocollimator (3) to aim at x of the attitude reference mirror (5)pThe shaft is subjected to auto-collimation reading to obtain a pitch angle reading theta1；
(4.2) rotating the standard hexahedron (2) around the azimuth axis anticlockwise, wherein the surface a (6) and the surface d (9) of the standard hexahedron (2) after rotation are close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1), the autocollimator (3) keeps still before and after the standard hexahedron (2) rotates, and at the moment, the autocollimator (3) is used again for autocollimation reading to obtain a pitch angle reading theta2；
(4.3) continuing to rotate the standard hexahedron (2) anticlockwise around the azimuth axis, after the rotation is finished, the a surface (6) and the f surface (11) of the standard hexahedron (2) are close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1), the autocollimator (3) keeps still before and after the standard hexahedron (2) rotates, at the moment, autocollimator (3) is used for performing autocollimation reading, and a pitch angle reading theta is obtained3；
(4.4) determining the projection u of the equivalent rotation axis vector corresponding to the rotation excitation in the steps (4.2) - (4.3) in the coordinate system of the attitude reference mirror (5)pThe equivalent rotation axis vector and xpThe angle of the axes being
The equivalent rotation axis vector and ypThe angle of the axes being
The equivalent rotation axis vector and zpThe angle of the axes being
Thus, the rotation in steps (4.2) - (4.3) actuates the corresponding equivalentProjection u of a rotation axis vector in the coordinate system of an attitude reference mirror (5)pIs up＝[α1β1γ1]T；
(4.5) continuing to rotate the standard hexahedron (2) anticlockwise around the azimuth axis, wherein the surface a (6) and the surface b (7) of the standard hexahedron (2) are close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1) after the rotation is finished; and then clockwise rotating the standard hexahedron (2) around a pitch axis, after the rotation is finished, the d surface (9) and the a surface (6) of the standard hexahedron (2) are close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1), the autocollimator (3) keeps still before and after the standard hexahedron (2) rotates, at the moment, the autocollimator (3) is used again for performing autocollimation reading, and a pitch angle reading theta is obtained4；
(4.6) continuing to rotate the standard hexahedron (2) clockwise around the azimuth axis, keeping the d surface (9) and the c surface (8) of the standard hexahedron (2) close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1) after the rotation is finished, keeping the autocollimator (3) still before and after the standard hexahedron (2) rotates, performing autocollimation reading by using the autocollimator (3) at the moment, and obtaining a pitch angle reading theta5；
(4.7) continuing to rotate the standard hexahedron (2) clockwise around the azimuth axis, after the rotation is finished, the d surface (9) and the f surface (11) of the standard hexahedron (2) are close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1), the autocollimator (3) keeps still before and after the standard hexahedron (2) rotates, at the moment, the autocollimator (3) is used again for performing autocollimation reading, and a pitch angle reading theta is obtained6；
(4.8) determining the projection v of the equivalent rotation axis vector corresponding to the rotation excitation in the steps (4.6) - (4.7) in the coordinate system of the attitude reference mirror (5)pThe equivalent rotation axis vector and zpThe angle of the axes being
The equivalent rotation axis vector and ypThe angle of the axes being
The equivalent rotation axis vector and xpClamp for shaftThe angle is
Therefore, the projection u of the equivalent rotation axis vector corresponding to the rotation excitation in the steps (4.6) - (4.7) in the coordinate system of the attitude reference mirror (5)pIs v isp＝[α2β2γ2]T；
(4.9) continuing to rotate the standard hexahedron (2) clockwise around the azimuth axis, and enabling a d surface (9) and an a surface (6) of the standard hexahedron (2) to be close to a horizontal surface (12) and a vertical surface (13) of the L-shaped marble platform (1) after the standard hexahedron (2) is rotated; further anticlockwise rotating the standard hexahedron (2) around the pitching axis, wherein the surface a (6) and the surface b (7) of the standard hexahedron (2) are close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1) after the rotation is finished;
(5) the method comprises the following steps of setting rotation excitation and determining the projection of an equivalent rotation axis vector corresponding to the rotation excitation in a sensitive axis constraint coordinate system of the optical gyroscope, wherein the projection comprises the following steps:
(5.1) rotating the standard hexahedron (2) by 360 degrees around the azimuth axis anticlockwise, keeping the a surface (6) and the b surface (7) of the standard hexahedron (2) close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1) after the rotation is finished, keeping the standard hexahedron (2) stationary after the rotation is finished for 60s, further rotating the standard hexahedron (2) by 360 degrees around the azimuth axis clockwise, keeping the a surface (6) and the b surface (7) of the standard hexahedron (2) close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1) after the rotation is finished, and keeping the standard hexahedron (2);
(5.2) determining the projection u of the equivalent rotation axis vector corresponding to the anticlockwise rotation excitation in the step (5.1) in the optical gyro sensitive axis constraint coordinate system+By the following steps:
(5.2.1) determining the start of the anticlockwise rotation of the standard hexahedron (2) in step (5.1)
The initial attitude matrix of the time optical gyro component (4) is
That is to say, the
Solidifying a body coordinate system b of the optical gyro assembly (4) at a moment into an inertia coordinate system I, wherein I represents a third-order unit matrix;
(5.2.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i, wherein
In the form of a matrix of poses,
the rotation angular velocity output by the optical gyro component (4) is obtained by updating the attitude matrix according to the following steps:
Wherein the content of the first and second substances,
respectively represent tk-1、tkAttitude matrix at time, σ is [ t ]k-1,tk-1]The equivalent rotation vector corresponding to the rotation excitation in the time period △ t, | σ | is the modulus of σ, △ θ1、△θ2、△θ3Respectively representing angular velocities of rotation
In a period of time
Time period
Time period
The angular increment corresponding thereto;
(5.2.3) obtaining the end of the anticlockwise rotation of the standard hexahedron (2) by resolving according to the attitude matrix differential equation
Attitude quaternion of temporal optical gyro component (4)
(5.2.4) determining the projection u of the corresponding equivalent rotation axis vector in the optical gyro sensitive axis constraint coordinate system during counterclockwise rotation+Expressed as:
in the formula, mu+Is taken as
To represent
Row j, column k elements;
(5.3) determining the projection u of the equivalent rotation axis vector corresponding to the clockwise rotation excitation in the step (5.1) in the optical gyro sensitive axis constraint coordinate system-By the following steps:
(5.3.1) determining the start of the clockwise rotation of the standard hexahedron (2) in step (5.1)
The initial attitude matrix of the time optical gyro component (4) is
That is to say, the
The body coordinate system b of the optical gyro component (4) at the moment is solidified into an inertial coordinate system i;
(5.3.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i;
(5.3.3) solving according to the attitude matrix differential equation to obtain the end of clockwise rotation of the standard hexahedron (2)
Attitude quaternion of temporal optical gyro component (4)
(5.3.4) determining the projection u of the equivalent rotation axis vector corresponding to the clockwise rotation in the optical gyro sensitive axis constraint coordinate system-Expressed as:
in the formula, mu-Is taken as
To represent
Line j ofThe kth column element;
(5.4) determining the projection u of the equivalent rotation axis vector corresponding to the rotation excitation in the step (5.1) in the optical gyro sensitive axis constraint coordinate systembIs composed of
(5.5) clockwise rotating the standard hexahedron (2) around the pitch axis, enabling a d surface (9) and an a surface (6) of the standard hexahedron (2) to be close to a horizontal surface (12) and a vertical surface (13) of the L-shaped marble platform (1) after the rotation is finished, and standing for 60s after the rotation is finished;
(5.6) rotating the standard hexahedron (2) by 360 degrees clockwise around the azimuth axis, keeping the d surface (9) and the a surface (6) of the standard hexahedron (2) close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1) after the rotation is finished, keeping the standard hexahedron (2) stationary after the rotation is finished for 60s, further rotating the standard hexahedron (2) by 360 degrees anticlockwise around the azimuth axis, keeping the d surface (9) and the a surface (6) of the standard hexahedron (2) close to the horizontal surface (12) and the vertical surface (13) of the L-shaped marble platform (1) after the rotation is finished, and keeping the standard hexahedron (2);
(5.7) determining the projection v of the equivalent rotation axis vector corresponding to the clockwise rotation excitation in the step (5.6) in the optical gyro sensitive axis constraint coordinate system+By the following steps:
(5.7.1) determining the start of the clockwise rotation of the standard hexahedron (2) in step (5.6)
The initial attitude matrix of the time optical gyro component (4) is
That is to say, the
The body coordinate system b of the optical gyro component (4) at the moment is solidified into an inertial coordinate system i;
(5.7.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i;
(5.7.3) solving according to the attitude matrix differential equation to obtain the end of clockwise rotation of the standard hexahedron (2)
Attitude quaternion of temporal optical gyro component (4)
(5.7.4) determining the projection v of the equivalent rotation axis vector corresponding to the clockwise rotation in the optical gyro sensitive axis constraint coordinate system+Expressed as:
in the formula, u+Is taken as
To represent
Row j, column k elements;
(5.8) determining the projection v of the equivalent rotation axis vector corresponding to the anticlockwise rotation excitation in the step (5.6) in the optical gyro sensitive axis constraint coordinate system-By the following steps:
(5.8.1) determining the start of the anticlockwise rotation of the standard hexahedron (2) in step (5.1)
The initial attitude matrix of the time optical gyro component (4) is
That is to say, the
The body coordinate system b of the optical gyro component (4) at the moment is solidified into an inertial coordinate system i;
(5.8.2) differential equation based on attitude matrix
Updating the attitude matrix under an inertial coordinate system i;
(5.8.3) solving according to the attitude matrix differential equation to obtain the end of the counterclockwise rotation of the standard hexahedron (2)
Attitude quaternion of temporal optical gyro component (4)
(5.8.4) determining the projection v of the corresponding equivalent rotation axis vector in the optical gyro sensitive axis constraint coordinate system when rotating anticlockwise-Expressed as:
in the formula, u-Is taken as
To represent
Row j, column k elements;
(5.9) determining the projection v of the equivalent rotation axis vector corresponding to the rotation excitation in the step (5.6) in the optical gyro sensitive axis constraint coordinate systembIs composed of
(6) Determining the installation relation between the constraint coordinate system of the sensitive axis of the optical gyro and the coordinate system of the attitude reference mirror (5)
Wherein the content of the first and second substances,
further, when the attitude information of the optical gyro component (4) needs to be led out, the installation relation between the constraint coordinate system of the sensitive axis of the optical gyro and the coordinate system of the attitude reference mirror (5) can be corrected
And high-precision posture information extraction is realized.
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