CN110873578B - Hexahedron prism and IMU installation error calibration method based on turntable transmission - Google Patents
Hexahedron prism and IMU installation error calibration method based on turntable transmission Download PDFInfo
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Abstract
The invention discloses a method for calibrating mounting errors of a hexahedral prism and an IMU (inertial measurement unit) based on turntable transmission, which comprises the steps of firstly, fixedly connecting the hexahedral prism with the IMU through a structural member, and then, mounting the hexahedral prism at the center of a shaft of a three-shaft turntable; then calibrating the relative angle relation between the hexahedral prism and the rotary table shafting through a gyroscope; calibrating the relative angle relation between the IMU and a rotary table shaft system through a three-shaft rotary table; and finally, obtaining the angle relation between the hexahedral prism and the IMU through coordinate conversion according to the relative angle relation between the hexahedral prism and the rotary table shaft system and the relative angle relation between the IMU and the rotary table shaft system. The method can solve the problems that the calibration precision of the installation error angle and the implementation operation are difficult to ensure in practical application, and has the advantages of simple operation, easy realization and higher calibration precision.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a method for calibrating installation errors of a hexahedral prism and an IMU (inertial measurement unit) based on turntable transmission.
Background
With the development of high-precision POS (Position and Orientation System) technology, high-precision and miniaturized POS are gradually applied to an airborne SAR (Synthetic Aperture Radar) System.
The inventor of the present application finds that the method of the prior art has at least the following technical problems in the process of implementing the present invention:
and the high-precision POS is fixedly connected with the SAR, and the position and the posture of the phase center of the antenna are obtained by obtaining the accurate position and posture information conversion through POS measurement, so that a high-quality SAR image is obtained in an auxiliary manner. Because the calibration precision of the installation misalignment angle between the SAR antenna and the IMU (Inertial Measurement Unit) directly restricts the precision of the SAR system, the traditional SAR calibration method is to level the airplane in the airport, measure the installation relation between the SAR and the airplane Inertial navigation through devices such as optical equipment, a target and the like, obtain the installation misalignment angle, and has long calibration period and great technical difficulty.
Therefore, the method in the prior art has the technical problems of difficult implementation and insufficient calibration precision.
Disclosure of Invention
In view of the above, the invention provides a calibration method for mounting errors of a hexahedral prism and an IMU based on turntable transfer, which is used for solving or at least partially solving the technical problems of difficult implementation and insufficient calibration precision of the method in the prior art.
In order to solve the technical problem, the invention provides a method for calibrating installation errors of a hexahedral prism and an IMU (inertial measurement unit) based on turntable transmission, which comprises the following steps:
step S1: the method comprises the following steps that after a hexahedral prism is fixedly connected with an inertial measurement unit IMU through a structural part, the hexahedral prism is installed at the center of a shaft of a three-shaft turntable, and the inertial measurement unit IMU comprises a gyroscope and an accelerometer;
step S2: calibrating the relative angle relation between the hexahedral prism and the rotary table shafting through a gyroscope;
step S3: calibrating the relative angle relation between the IMU and a rotary table shaft system through a three-shaft rotary table;
step S4: and obtaining the angle relation between the hexahedral prism and the IMU through coordinate conversion according to the relative angle relation between the hexahedral prism and the rotary table shaft system and the relative angle relation between the IMU and the rotary table shaft system.
In one embodiment, the prisms will be perpendicular
The surface of the axis being a mirror surface 1, perpendicular to the prism
The axial plane is the mirror plane 2, and the step S2 specifically includes:
step S2.1: rotating the rotary table to a preset fixed position to obtain an output attitude value of the rotary table
And obtaining a posture matrix corresponding to the posture
；
Step S2.2: after initializing the gyroscope, adjusting the angle to aim at the mirror surface 1 until the light is vertical to the mirror surface 1 to obtain a first horizontal angle of the gyroscope
And a first elevation angle
；
Step S2.3: adjusting the angle of the gyroscope to make the light vertical to the mirror surface 2 to obtain a second horizontal angle output by the gyroscope
And a second elevation angle
；
Step S2.4: according to the first horizontal angle
First elevation angle
Second horizontal angle
And a second elevation angle
And calculating the attitude angle of the prism, wherein the specific formula is as follows:
wherein,
respectively representing the pitch angle, roll angle and course angle of the hexahedral prism and obtaining a prism attitude matrix
；
Step S2.5: according to the attitude matrix of the rotary table and the prism attitude matrix, calculating the attitude relation between the hexahedron prism and the rotary table, namely the relative angle relation between the hexahedron prism and a rotary table shafting, wherein the calculation formula is as follows:
wherein,
a matrix representing the relative angular relationship between the hexahedral prism and the turret.
In one embodiment, step S3 specifically includes:
step S3.1: controlling the three-axis turntable to be stationary for a preset time length at different angular positions between 0 and 360 degrees around three axes in sequence, and obtaining gyro information and accelerometer information output by the IMU at different positions by taking the three-axis turntable as a position every other preset angle;
step S3.2: controlling a three-axis turntable to rotate around each axis of the IMU for a preset time length according to a fixed angular rate in sequence to obtain gyro information and accelerometer information output by the IMU at different rates;
step S3.3: and calculating the relative angle relationship between the IMU and the turntable according to the gyro information and the accelerometer information output by the IMU at different positions, the gyro information and the accelerometer information output by the IMU at different rates, the angle and the angular rate.
In one embodiment, after step S3.3, the method further comprises:
and compensating the relative angle relation between the IMU and the rotary table obtained by calculation at the output end of the POS.
In one embodiment, after step S4, the method further comprises:
and compensating the obtained angular relation between the hexahedral prism and the IMU at the output end of the POS.
In one embodiment, the method further comprises:
and acquiring an installation error angle between the SAR and the IMU according to the angular relationship between the hexahedral prism and the IMU and the angular relationship between a self axis system and the hexahedral prism measured in advance by the SAR.
One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:
the invention provides a method for calibrating mounting errors of a hexahedral prism and an IMU (inertial measurement unit) based on turntable transmission, which comprises the steps of firstly, fixedly connecting the hexahedral prism with the IMU through a structural member, and then, mounting the hexahedral prism at the center of a shaft of a three-shaft turntable; then, calibrating the relative angle relation between the hexahedral prism and the rotary table shafting through a gyroscope; then calibrating the relative angle relation between the IMU and a rotary table shaft system through a three-axis rotary table; and finally, obtaining the angle relation between the hexahedral prism and the IMU through coordinate conversion according to the relative angle relation between the hexahedral prism and the rotary table shaft system and the relative angle relation between the IMU and the rotary table shaft system.
Due to the adoption of the method provided by the invention, the accuracy of measurement of each intermediate attitude can be ensured by introducing the high-precision three-axis turntable and the gyroscope, the actual requirement problem of the calibration of the installation error angle between the high-precision POS and the SAR radar is solved, the method is simple and easy to operate and realize, the calibration precision is higher, and the test result shows that the repeatability of the calibration of the course angle and the attitude angle is better than 5'.
Furthermore, the installation error angle between the SAR and the IMU can be obtained according to the angle relationship between the hexahedral prism and the IMU and the angle relationship between the self axis system and the hexahedral prism measured in advance by the SAR, and the accuracy of the POS system and the SAR radar in practical application is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for calibrating mounting errors of a hexahedral prism and an IMU based on turntable transfer according to an embodiment of the present invention;
FIG. 2 is an overall flow chart of a method for calibrating mounting errors of a hexahedral prism and an IMU based on turntable transfer according to an embodiment of the present invention;
fig. 3 is a schematic view of a hexahedral prism according to an embodiment of the present invention.
Detailed Description
Aiming at the problems that the mounting error angle calibration precision and the implementation operation of a high-precision POS system and an SAR are difficult to guarantee in practical application, the hexahedron prism and IMU mounting error calibration method based on turntable transmission is provided, the actual requirement problem of the mounting error angle calibration between the high-precision POS system and the SAR radar is solved, the method is simple and easy to implement, and the calibration precision is high.
In order to achieve the above object, the main concept of the present invention is as follows:
the hexahedral prism is fixedly connected with the IMU through a designed and fastened reliable structural part, namely the high-precision POS system is provided with the hexahedral prism structure; firstly, measuring the angle relation between a hexahedron prism shafting and a rotary table shafting through a high-precision gyrotheodolite; then measuring the relation between the IMU shaft system and the rotary table shaft system by a multi-position and speed method of the high-precision rotary table; and finally, converting a coordinate system to obtain the angle relation between the hexahedral prism and the IMU. Because the SAR can effectively and conveniently measure the angular relationship between the self axis and the hexahedral prism, the angular relationship between the hexahedral prism and the IMU obtained by the measurement of the invention finally obtains the installation error angle between the SAR and the IMU.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides a method for calibrating installation errors of a hexahedral prism and an IMU based on turntable transfer, please refer to fig. 1, and the method includes:
step S1: after the hexahedral prism is fixedly connected with the inertial measurement unit IMU through a structural part, the hexahedral prism is installed at the center of a shaft of the three-shaft turntable, and the inertial measurement unit IMU comprises a gyroscope and an accelerometer.
Step S2: calibrating the relative angle relation between the hexahedral prism and the rotary table shafting through a gyroscope;
step S3: calibrating the relative angle relation between the IMU and a rotary table shaft system through a three-shaft rotary table;
step S4: and obtaining the angle relation between the hexahedral prism and the IMU through coordinate conversion according to the relative angle relation between the hexahedral prism and the rotary table shaft system and the relative angle relation between the IMU and the rotary table shaft system, namely the installation error between the hexahedral prism and the IMU.
Step S5: and compensating the obtained angular relation between the hexahedral prism and the IMU at the output end of the POS.
The method for calibrating the installation errors of the hexahedral prism and the IMU based on turntable transmission can accurately calibrate the installation angle relationship between the hexahedral prism and a high-precision POS system, and an SAR (synthetic aperture radar) can conveniently and quickly acquire the accurate relationship between a self axis and the hexahedral prism, so that the method is beneficial to improving the precision and calibration efficiency of the practical application of the POS system and the SAR.
Specifically, please refer to fig. 2, which is an overall flowchart of a calibration method for mounting errors of a hexahedral prism and an IMU based on turntable transfer according to an embodiment of the present invention. The obtained angular relationship between the hexahedral prism and the IMU is compensated at the output end of the POS, which means that the obtained angular relationship between the hexahedral prism and the IMU is added to the output result of the POS, and the obtained result is the calibration result. By the method, the POS output attitude can be consistent with the attitude of each axis of the prism finally.
In one embodiment, the prisms will be perpendicular
The surface of the axis being a mirror surface 1, perpendicular to the prism
The axial plane is the mirror plane 2, and the step S2 specifically includes:
step S2.1: rotating the rotary table to a preset fixed position to obtain an output attitude value of the rotary table
And obtaining a posture matrix corresponding to the posture
；
Step S2.2: after initializing the gyroscope, adjusting the angle to aim at the mirror surface 1 until the light is vertical to the mirror surface 1 to obtain a first horizontal angle of the gyroscope
And a first elevation angle
；
Step S2.3: adjusting the angle of the gyroscope to make the light vertical to the mirror surface 2 to obtain a second horizontal angle output by the gyroscope
And a second elevation angle
；
Step S2.4: according to the first horizontal angle
First elevation angle
Second horizontal angle
And a second elevation angle
And calculating the attitude angle of the prism, wherein the specific formula is as follows:
wherein,
respectively representing the pitch angle, roll angle and course angle of the hexahedral prism and obtaining a prism attitude matrix
；
Step S2.5: according to the attitude matrix of the rotary table and the prism attitude matrix, calculating the attitude relation between the hexahedron prism and the rotary table, namely the relative angle relation between the hexahedron prism and a rotary table shafting, wherein the calculation formula is as follows:
wherein,
a matrix representing the relative angular relationship between the hexahedral prism and the turret.
Specifically, the hexahedral prism is schematically shown in FIG. 3, in which the surface
Approximately perpendicular to the prism
Axis, denoted as mirror 1, plane
Approximately perpendicular to the prism
The axis is denoted as mirror 2. After the rotary table is rotated to a preset fixed position, the posture of the rotary table at the position can be obtained and expressed by a corresponding posture matrix.
In step S2.5, the prism attitude matrix
Namely a cosine matrix between the prism coordinate system and the geographical coordinate system,
namely a cosine matrix between the coordinate system of the rotary table and the geographic coordinate system, and the relative angle matrix between the coordinate system of the prism and the coordinate system of the rotary table can be calculated through the angle relationship expressed by the two matrixes
Thereby obtaining the angular relationship between the prism and the turntable.
In one embodiment, step S3 specifically includes:
step S3.1: controlling the three-axis turntable to be stationary for a preset time length at different angular positions between 0 and 360 degrees around three axes in sequence, and obtaining gyro information and accelerometer information output by the IMU at different positions by taking the three-axis turntable as a position every other preset angle;
step S3.2: controlling a three-axis turntable to rotate around each axis of the IMU for a preset time length according to a fixed angular rate in sequence to obtain gyro information and accelerometer information output by the IMU at different rates;
step S3.3: and calculating the relative angle relationship between the IMU and the turntable according to the gyro information and the accelerometer information output by the IMU at different positions, the gyro information and the accelerometer information output by the IMU at different rates, the angle and the angular rate.
Specifically, the preset duration, the preset angle, and the like can be selected according to actual conditions, step S3.1 is to perform a multi-position test, that is, to measure data output by the IMU by selecting different positions (angles), and step S3.2 is to perform a multi-rate test, that is, to measure data output by the IMU by setting different angular rates. Then, resolving is carried out according to the obtained data output by the IMUs at the multiple groups of different positions, the data output by the IMUs at the multiple groups of different speeds and the angles and the speeds recorded by the rotary table to obtain the relative angle relation between the IMUs and the rotary table
In one embodiment, after step S3.3, the method further comprises:
and compensating the relative angle relation between the IMU and the rotary table obtained by calculation at the output end of the POS.
Specifically, the calculated relative angular relationship between the IMU and the turntable is used for compensating the attitude output by the POS. In the specific implementation process, the calculated relative angle relationship between the IMU and the rotary table is added to the output result of the POS so as to obtain a compensation result.
In one embodiment, the method further comprises:
and acquiring an installation error angle between the SAR and the IMU according to the angular relationship between the hexahedral prism and the IMU and the angular relationship between a self axis system and the hexahedral prism measured in advance by the SAR.
Specifically, the specific implementation process of the angular relationship between the self-axis system and the hexahedral prism measured in advance by the SAR is as follows: and adjusting the angle of the SAR optical axis until the optical axis is perpendicular to the mirror surface, and outputting the angle of the SAR optical axis at the moment, namely the angle relation between the SAR self axis and the hexahedral prism.
Generally, the method for calibrating the installation angle relationship between the hexahedral prism and the high-precision POS system is beneficial to improving the precision of the POS system and the SAR radar in practical application. The introduction of the high-precision turntable and the gyrotheodolite ensures the accuracy of measurement of each intermediate attitude, solves the problem of actual requirement of calibration of an installation error angle between the high-precision POS and the SAR radar, has simple and easy operation, higher calibration precision and test result display, and the repeatability of the calibration of the course angle and the attitude angle is better than 5'.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.
Claims (4)
1. A hexahedron prism and IMU installation error calibration method based on turntable transmission is characterized by comprising the following steps:
step S1: the method comprises the following steps that after a hexahedral prism is fixedly connected with an inertial measurement unit IMU through a structural part, the hexahedral prism is installed at the center of a shaft of a three-shaft turntable, and the inertial measurement unit IMU comprises a gyroscope and an accelerometer;
step S2: calibrating the relative angle relation between the hexahedral prism and the rotary table shafting through a gyroscope;
step S3: calibrating the relative angle relation between the IMU and a rotary table shaft system through a three-shaft rotary table;
step S4: obtaining the angle relation between the hexahedral prism and the IMU through coordinate conversion according to the relative angle relation between the hexahedral prism and the rotary table shaft system and the relative angle relation between the IMU and the rotary table shaft system;
step S5: compensating the obtained angular relation between the hexahedral prism and the IMU at the output end of the POS;
wherein the prism will be perpendicular
Surface of shaftTo mirror surface 1, will be perpendicular to the prism
The axial plane is the mirror plane 2, and the step S2 specifically includes:
step S2.1: rotating the rotary table to a preset fixed position to obtain an output attitude value of the rotary table
And obtaining a posture matrix corresponding to the posture
；
Step S2.2: after initializing the gyroscope, adjusting the angle to aim at the mirror surface 1 until the light is vertical to the mirror surface 1 to obtain a first horizontal angle of the gyroscope
And a first elevation angle
；
Step S2.3: adjusting the angle of the gyroscope to make the light vertical to the mirror surface 2 to obtain a second horizontal angle output by the gyroscope
And a second elevation angle
；
Step S2.4: according to the first horizontal angle
First elevation angle
Second horizontal angle
And a second elevation angle
And calculating the attitude angle of the prism, wherein the specific formula is as follows:
wherein,
respectively representing the pitch angle, roll angle and course angle of the hexahedral prism and obtaining a prism attitude matrix
；
Step S2.5: according to the attitude matrix of the rotary table and the prism attitude matrix, calculating the attitude relation between the hexahedron prism and the rotary table, namely the relative angle relation between the hexahedron prism and a rotary table shafting, wherein the calculation formula is as follows:
wherein,
a matrix representing the relative angular relationship between the hexahedral prism and the turret.
2. The method for calibrating mounting errors of a hexahedral prism and an IMU based on turntable transfer as claimed in claim 1, wherein the step S3 specifically comprises:
step S3.1: controlling the three-axis turntable to be stationary for a preset time length at different angular positions between 0 and 360 degrees around three axes in sequence, and obtaining gyro information and accelerometer information output by the IMU at different positions by taking the three-axis turntable as a position every other preset angle;
step S3.2: controlling a three-axis turntable to rotate around each axis of the IMU for a preset time length according to a fixed angular rate in sequence to obtain gyro information and accelerometer information output by the IMU at different rates;
step S3.3: and calculating the relative angle relationship between the IMU and the turntable according to the gyro information and the accelerometer information output by the IMU at different positions, the gyro information and the accelerometer information output by the IMU at different rates, the angle and the angular rate.
3. The turret transfer-based hexahedral prism and IMU mounting error calibration method according to claim 2, wherein after step S3.3, the method further comprises:
and compensating the relative angle relation between the IMU and the rotary table obtained by calculation at the output end of the POS.
4. The method for calibrating hexahedral prism and IMU mounting errors based on turntable transfer according to claim 1, wherein the method further comprises:
and acquiring an installation error angle between the SAR and the IMU according to the angular relationship between the hexahedral prism and the IMU and the angular relationship between a self axis system and the hexahedral prism measured in advance by the SAR.
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| CN112146681B (en) * | 2020-09-12 | 2023-03-10 | 中国运载火箭技术研究院 | Method and device for testing installation error of inertial group prism and computer storage medium |
| CN113624252B (en) * | 2021-06-30 | 2023-09-12 | 北京自动化控制设备研究所 | Inertial navigation prism azimuth installation deviation calibration method and inertial navigation system |
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