CN110987060A - Rotating shaft monitoring equipment suitable for mounting matrix calibration of magnetometer and attitude measuring instrument - Google Patents
Rotating shaft monitoring equipment suitable for mounting matrix calibration of magnetometer and attitude measuring instrument Download PDFInfo
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- CN110987060A CN110987060A CN201911061753.2A CN201911061753A CN110987060A CN 110987060 A CN110987060 A CN 110987060A CN 201911061753 A CN201911061753 A CN 201911061753A CN 110987060 A CN110987060 A CN 110987060A
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- magnetometer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention provides a rotating shaft monitoring device suitable for calibrating mounting matrixes of a magnetometer and an attitude tester, which comprises a supporting upright post (1), a laser autocollimator (2), a light path conversion reflector (3), a portal frame (4), a receiving reflector (5), a connecting rod (6), an attitude tester (7), a non-magnetic clamp (8), a non-magnetic rotary table (9), a mounting platform (10), an attitude tester electronics box (11), a magnetometer electronics box (12) and a magnetometer (13). The invention realizes the active monitoring of the rotation precision of the non-magnetic turntable through the laser autocollimator, and realizes the high-precision calibration of the installation matrix of the magnetometer and the attitude tester through the subsequent error compensation. The electronic box, the electronic box and the laser autocollimator of the attitude measuring instrument are arranged far away from the non-magnetic turntable, so that the interference of residual magnetism of the electronic box, the laser autocollimator and a background magnetic field of the attitude measuring instrument is effectively avoided, and a high-precision testing environment is ensured.
Description
Technical Field
The invention relates to the technical field of aerospace precision measurement, in particular to a rotating shaft monitoring device suitable for calibrating a mounting matrix of a magnetometer and an attitude measuring instrument, and particularly relates to a rotating shaft monitoring device suitable for outdoor calibration of the mounting matrix of the magnetometer and the attitude measuring instrument.
Background
Geomagnetism is an important component of geophysics and space physics, and is a bridge connecting solid geophysics with space physics. It is composed of basic magnetic field and variable magnetic field. The basic magnetic field comes from the earth interior, and the change and origin of the basic magnetic field are researched, so that the basic magnetic field is one of important contents of the earth dynamics research; the changing magnetic field is then related to changes in the ionosphere and solar activity, etc. The study of a changing magnetic field is a popular topic in daily physical research. The change of the magnetic field observed by the satellite comprises various rich information including the movement from the top to the sun, the interplanetary space, the magnetic layer and the ionized layer, the movement from the bottom to the earth crust structure, the earthquake movement, the earth deep conductive characteristic and the change of the earth core, and the satellite can provide a large amount of scientific data with high resolution for the geophysical and space physical research and meet the requirements of the scientific research. The fluxgate magnetometer and the satellite attitude measurement instrument are key devices, wherein the magnetometer is a key device for acquiring magnetic field information, and the attitude measurement instrument is a key system for determining satellite attitude, so that the determination of the spatial attitude of the magnetometer by the attitude measurement instrument is a necessary guarantee for accurate magnetic field information acquisition.
In the process of developing a magnetic field measurement satellite, the key point is high-precision on-orbit calibration of an attitude measurement instrument (attitude measurement instrument) and a magnetometer, and due to the single satellite transmission and the great maintenance difficulty, outdoor and indoor calibration of installation matrixes of the attitude measurement instrument and the magnetometer is required to be carried out in the ground stage so as to verify the high-precision space pose efficacy as much as possible. In the outdoor calibration process, the rotation precision of the attitude measuring instrument and the magnetometer directly influences the evaluation of the calibration effect, and due to the limitation of processing and assembling precision, how to monitor in real time and adjust the installation position according to the measurement result becomes an important link for the outdoor calibration of the installation matrix of the attitude measuring instrument and the magnetometer.
Patent ZL201420617200 mentions a method for detecting an eddy current sensor, which overcomes the problem of low precision of the traditional contact type measurement, and CN204052940U mentions a method for detecting the rotation precision of a rotating shaft by using a capacitance sensor, which has the characteristic of high precision, but the methods all adopt the electromagnetic principle for measurement, and are not suitable for outdoor calibration with extremely high requirement on remanence. Therefore, it is necessary to provide a rotating shaft detecting device with low residual magnetic interference and high measurement accuracy.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the rotating shaft monitoring equipment suitable for the installation matrix calibration of the magnetometer and the attitude measuring instrument.
The rotating shaft monitoring equipment suitable for calibrating the mounting matrix of the magnetometer and the attitude tester comprises a supporting upright post, a laser autocollimator, a light path conversion reflector, a portal frame, a receiving reflector, a connecting rod, the attitude tester, a non-magnetic clamp, a non-magnetic rotary table, a mounting platform, an attitude tester electronics box, a magnetometer electronics box and the magnetometer, wherein the laser autocollimator is arranged on the supporting upright post;
the installation platform is provided with a non-magnetic rotary table and a portal frame, the connecting rod is arranged on the non-magnetic rotary table through a non-magnetic clamp, one end of the connecting rod is provided with a magnetometer, the other end of the connecting rod is provided with an attitude measuring instrument, a receiving reflector is arranged on the upper side of the magnetometer, and the light path conversion reflector is arranged on the portal frame and is positioned above the receiving reflector;
the laser autocollimator is arranged on the support upright post, and light beams emitted by the laser autocollimator are incident to the receiving reflector through the light path conversion reflector;
the electronic box of the posture measuring instrument is connected with the posture measuring instrument, and the electronic box of the magnetometer is connected with the magnetometer.
Preferably, the magnetic field intensity monitoring meter is further included, and is arranged around the mounting platform to realize magnetic field monitoring of the test environment.
Preferably, one end of the connecting rod, which is provided with the magnetometer, is close to or located at the rotation center of the non-magnetic turntable, one end of the connecting rod, which is provided with the attitude measuring instrument, is located at the edge of the non-magnetic turntable, namely is far away from the rotation center of the non-magnetic turntable, and the receiving reflector is adjusted to be located at the rotation center of the non-magnetic turntable.
Preferably, the posture measuring instrument electronics box and the magnetometer electronics box are arranged away from the non-magnetic turntable by more than five meters.
Preferably, the laser autocollimator is arranged more than twenty meters away from the non-magnetic turntable.
Preferably, three attitude measuring instruments are arranged at the other end of the connecting rod.
Preferably, the mounting platform has a leveling function.
Preferably, the receiving mirror is located vertically above the magnetometer.
Preferably, light beams emitted by the laser autocollimator are incident to the receiving reflector through the light path conversion reflector, and when the nonmagnetic turntable does a rotary motion, the rotary precision of the nonmagnetic turntable rotating shaft is monitored through the posture change of the receiving reflector.
Preferably, the fixed star is observed by an attitude measuring instrument in clear night sky, the attitude of the coordinate system of the attitude measuring instrument relative to the geographical coordinate system is measured by the attitude measuring instrument, the magnetic field intensity is measured by the magnetometer, the attitude of the coordinate system of the magnetometer relative to the geographical coordinate system is measured, and finally the installation matrix between the attitude measuring instrument and the magnetometer is converted through the chain relation between the coordinate systems.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has simple structure, realizes the active monitoring of the rotation precision of the non-magnetic turntable through the laser autocollimator, and realizes the high-precision calibration of the installation matrix of the magnetometer and the attitude measuring instrument through the subsequent error compensation.
2. The electronic box, the electronic box and the laser autocollimator of the attitude measuring instrument are arranged far away from the non-magnetic turntable, so that the interference of residual magnetism of the electronic box, the laser autocollimator and a background magnetic field of the attitude measuring instrument is effectively avoided, and a high-precision testing environment is ensured.
3. The invention has the advantages of no magnetic turntable rotation precision error compensation, simple structure, high magnetic field measurement precision and the like, and is suitable for the fields of scientific test satellites and the like such as space magnetic field and gravitational field detection.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of the present invention.
The figures show that:
support column 1 does not have magnetic fixture 8
Light path conversion reflector 3 mounting platform 10
Gantry 4 posture measuring instrument electronic box 11
Receiving mirror 5 magnetometer electronics box 12
Connecting rod 6 magnetometer 13
Magnetic field intensity monitor 14 of posture detector 7
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The invention provides a rotating shaft monitoring device suitable for calibrating a mounting matrix of a magnetometer and an attitude measuring instrument, in particular to a rotating shaft monitoring device suitable for outdoor calibration of the mounting matrix of the magnetometer and the attitude measuring instrument, aiming at the defects in the prior art. The fixed star is observed by a posture measuring instrument (posture measuring instrument 7) in clear night sky, the posture of a coordinate system of the posture measuring instrument relative to a geographical coordinate system is measured, the magnetic field intensity is measured by a magnetometer 13, the posture of the coordinate system of the magnetometer relative to the geographical coordinate system is determined, finally, an installation matrix between the posture measuring instrument (posture measuring instrument 7) and the magnetometer 13 is calculated through a chain relation between the coordinate systems, meanwhile, light beams emitted by a laser autocollimator 2 installed on a support upright post 1 enter a receiving reflector 5 through a light path conversion reflector 3 arranged on a portal frame 4, and when a nonmagnetic rotary table 9 rotates, the stable precision of a rotary shaft of the nonmagnetic rotary table 9 is monitored through the change of the receiving reflector 5.
According to the rotating shaft monitoring equipment suitable for calibrating the installation matrix of the magnetometer and the attitude tester, as shown in fig. 1, the rotating shaft monitoring equipment comprises a supporting upright post 1, a laser autocollimator 2, a light path conversion reflecting mirror 3, a portal frame 4, a receiving reflecting mirror 5, a connecting rod 6, an attitude tester 7, a non-magnetic clamp 8, a non-magnetic rotary table 9, an installation platform 10, an attitude tester electronics box 11, a magnetometer electronics box 12 and a magnetometer 13; the installation platform 10 is provided with a non-magnetic rotary table 9 and a portal frame 4, the connecting rod 6 is arranged on the non-magnetic rotary table 9 through a non-magnetic clamp 8, one end of the connecting rod 6 is provided with a magnetometer 13, the other end of the connecting rod 6 is provided with an attitude detector 7, the upper side of the magnetometer 13 is provided with a receiving reflector 5, and the light path conversion reflector 3 is arranged on the portal frame 4 and is positioned above the receiving reflector 5; the laser autocollimator 2 is arranged on the support upright post 1, and light beams emitted by the laser autocollimator 2 are incident to the receiving reflector 5 through the light path conversion reflector 3; and the posture measuring instrument electronic box 11 is connected with the posture measuring instrument 7, and the magnetometer electronic box 12 is connected with the magnetometer 13. The magnetic field intensity monitoring device further comprises a magnetic field intensity monitoring meter 14, wherein the magnetic field intensity monitoring meter 14 is arranged around the mounting platform 10, and magnetic field monitoring of a testing environment is achieved.
The end of the connecting rod 6, which is provided with the magnetometer 13, is close to or is positioned at the rotation center of the non-magnetic turntable 9, the end of the connecting rod 6, which is provided with the attitude tester 7, is positioned at the edge of the non-magnetic turntable 9, namely is far away from the rotation center of the non-magnetic turntable 9, and the receiving reflector 5 is adjusted to be positioned at the rotation center of the non-magnetic turntable 9. Preferably, the connecting rod 6 is an integrated connecting rod.
The posture measuring instrument electronic box 11 and the magnetometer electronic box 12 are arranged more than five meters away from the non-magnetic turntable 9. The laser autocollimator 2 is far away from the non-magnetic rotary table 9 by more than twenty meters. The interference of residual magnetism such as the attitude measuring instrument electronics box 11, the magnetometer electronics box 12, the laser autocollimator 2, the background magnetic field and the like is avoided as much as possible.
And the other end of the connecting rod 6 is provided with three attitude measuring instruments 7. The mounting platform 10 has a leveling function. The receiving mirror 5 is located vertically above the magnetometer 13. Light beams emitted by the laser autocollimator 2 are incident to the receiving reflector 5 through the light path conversion reflector 3, and when the nonmagnetic turntable 9 rotates, the rotation precision of the rotating shaft of the nonmagnetic turntable 9 is monitored through the posture change of the receiving reflector 5.
The fixed star is observed by the attitude measuring instrument 7 in clear night sky, the attitude of the coordinate system of the attitude measuring instrument 7 relative to the geographical coordinate system is measured by the attitude measuring instrument 7, the magnetic field intensity is measured by the magnetometer 13, the attitude of the coordinate system of the magnetometer 13 relative to the geographical coordinate system is measured, and finally the installation matrix between the attitude measuring instrument 7 and the magnetometer 13 is converted through the chain relation between the coordinate systems.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A rotating shaft monitoring device suitable for mounting matrix calibration of a magnetometer and an attitude tester is characterized by comprising a supporting upright post (1), a laser autocollimator (2), a light path conversion reflector (3), a portal frame (4), a receiving reflector (5), a connecting rod (6), an attitude tester (7), a non-magnetic clamp (8), a non-magnetic rotary table (9), a mounting platform (10), an attitude tester electronic box (11), a magnetometer electronic box (12) and a magnetometer (13);
the mounting platform (10) is provided with a non-magnetic rotary table (9) and a portal frame (4), the connecting rod (6) is arranged on the non-magnetic rotary table (9) through a non-magnetic clamp (8), one end of the connecting rod (6) is provided with a magnetometer (13), the other end of the connecting rod (6) is provided with an attitude measuring instrument (7), the upper side of the magnetometer (13) is provided with a receiving reflector (5), and the light path conversion reflector (3) is arranged on the portal frame (4) and is positioned above the receiving reflector (5);
the laser autocollimator (2) is arranged on the support upright post (1), and light beams emitted by the laser autocollimator (2) are incident to the receiving reflector (5) through the light path conversion reflector (3);
the electronic box (11) of the posture measuring instrument is connected with the posture measuring instrument (7), and the electronic box (12) of the magnetometer is connected with the magnetometer (13).
2. The rotating shaft monitoring equipment suitable for the installation matrix calibration of the magnetometer and the attitude tester as claimed in claim 1, further comprising a magnetic field strength monitor (14), wherein the magnetic field strength monitor (14) is arranged around the installation platform (10) to realize the magnetic field monitoring of a test environment.
3. The rotating shaft monitoring equipment suitable for the calibration of the mounting matrix of the magnetometer and the attitude indicator according to claim 1, wherein one end of the connecting rod (6) provided with the magnetometer (13) is close to or located at the rotation center of the nonmagnetic turntable (9), one end of the connecting rod (6) provided with the attitude indicator (7) is located at the edge of the nonmagnetic turntable (9), namely, is far away from the rotation center of the nonmagnetic turntable (9), and the receiving reflector (5) is adjusted to be located at the rotation center of the nonmagnetic turntable (9).
4. The rotating shaft monitoring equipment suitable for mounting matrix calibration of the magnetometer and the attitude tester according to claim 1, wherein the attitude tester electronics box (11) and the magnetometer electronics box (12) are arranged more than five meters away from the non-magnetic turntable (9).
5. The rotating shaft monitoring device suitable for mounting matrix calibration of magnetometers and attitude indicators as claimed in claim 1, wherein the laser autocollimator (2) is arranged more than twenty meters away from the non-magnetic turntable (9).
6. The rotating shaft monitoring device suitable for mounting matrix calibration of the magnetometer and the attitude tester according to claim 1, wherein three attitude testers (7) are arranged at the other end of the connecting rod (6).
7. The rotating shaft monitoring device suitable for magnetometer and attitude tester installation matrix calibration according to claim 1, wherein the installation platform (10) has a leveling function.
8. The rotating shaft monitoring device suitable for magnetometer and attitude tester installation matrix calibration according to claim 1, wherein the receiving mirror (5) is located vertically above the magnetometer (13).
9. The rotating shaft monitoring equipment suitable for the installation matrix calibration of the magnetometer and the attitude tester as claimed in claim 1, wherein a light beam emitted by the laser autocollimator (2) is incident to the receiving reflector (5) through the light path conversion reflector (3), and when the nonmagnetic turntable (9) rotates, the rotation precision of the rotating shaft of the nonmagnetic turntable (9) is monitored through the posture change of the receiving reflector (5);
the non-magnetic rotary table (9) can realize active compensation of rotation errors.
10. The rotating shaft monitoring device suitable for calibrating the mounting matrix of the magnetometer and the attitude indicator according to claim 1, wherein the fixed star is observed by the attitude indicator (7) in clear night sky, the attitude of the coordinate system of the attitude indicator (7) relative to the geographical coordinate system is measured by the attitude indicator (7), the magnetic field strength is measured by the magnetometer (13) and the attitude of the coordinate system of the magnetometer (13) relative to the geographical coordinate system is measured, and finally the mounting matrix between the attitude indicator (7) and the magnetometer (13) is calculated by the chain relation between the coordinate systems.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911061753.2A CN110987060B (en) | 2019-11-01 | 2019-11-01 | Rotating shaft monitoring equipment suitable for mounting matrix calibration of magnetometer and attitude measuring instrument |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911061753.2A CN110987060B (en) | 2019-11-01 | 2019-11-01 | Rotating shaft monitoring equipment suitable for mounting matrix calibration of magnetometer and attitude measuring instrument |
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| CN110987060B CN110987060B (en) | 2021-07-13 |
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