CN111238439A - Angular deviation measuring system - Google Patents
Angular deviation measuring system Download PDFInfo
- Publication number
- CN111238439A CN111238439A CN202010093757.5A CN202010093757A CN111238439A CN 111238439 A CN111238439 A CN 111238439A CN 202010093757 A CN202010093757 A CN 202010093757A CN 111238439 A CN111238439 A CN 111238439A
- Authority
- CN
- China
- Prior art keywords
- information
- attitude
- target object
- measurement
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
Abstract
The application discloses an angular deviation measurement system for measuring angular deviation information of a target object on a carrier relative to the carrier, including: a first measurement device (100), a second measurement device (200), and a computing device (300) communicatively coupled to the first measurement device (100) and the second measurement device (200). Wherein the first measurement device (100) is configured to measure vehicle attitude measurement information related to an attitude of the vehicle; a second measurement device (200) for measuring target object attitude measurement information relating to an attitude of the target object; the computing device (300) is configured to determine first angular deviation information of the target object relative to the vehicle based on the vehicle attitude measurement information and the target object attitude measurement information.
Description
Technical Field
The present application relates to the field of measurement technologies for detecting a carrier, and in particular, to an angular deviation measurement system for measuring angular deviation information of a target object on a carrier relative to the carrier.
Background
Currently, existing vehicles (e.g., aircraft) require commissioning prior to use or periodic inspection during use. Whether the attitude of a specified target object set on a vehicle with respect to the attitude of the vehicle conforms to a specification is detected during the debugging and inspection. For example, whether the axis of the target object is parallel to the vehicle crankshaft axis, or whether the angle between the axis of the specified target object and the vehicle crankshaft axis conforms to a predetermined angle. For example, whether the axis of the engine shaft disposed on the wing of the vehicle is parallel to the crankshaft of the vehicle or whether it is at a predetermined angle.
In this case, it is necessary to measure information on the angular deviation of the axis of the target object with respect to the axis of the machine shaft of the vehicle (i.e. the angle between the axis of the target object and the axis of the machine shaft). Currently, the measurement work usually requires manual measurement. However, the manual measurement mode requires multiple persons to complete the measurement, so that the method has the disadvantages of long time consumption, complex procedure (for example, multiple persons are required to complete the measurement in a cooperative manner), low working efficiency, inconvenient use, unsuitability for field work and the like.
Aiming at the problems that in the prior art, the work of detecting the angle deviation information of a target object on a carrier relative to the carrier needs to be completed by multiple persons in a cooperation mode, so that the time consumption is long, the procedure is complex, the working efficiency is low, the use is inconvenient, and the field work is not suitable, an effective solution scheme is not available at present.
Disclosure of Invention
The disclosure provides an angle deviation measuring system, which at least solves the problems that in the prior art, the work of detecting the angle deviation information of a target object on a carrier relative to the carrier needs to be completed by cooperation of multiple persons, so that the time consumption is long, the procedure is complex, the work efficiency is low, the use is inconvenient, and the system is not suitable for field work.
According to an aspect of the present application, there is provided an angular deviation measurement system for measuring angular deviation information of a target object on a vehicle relative to the vehicle, comprising: the system includes a first measurement device, a second measurement device, and a computing device communicatively connected to the first measurement device and the second measurement device. Wherein the first measurement device is configured to measure vehicle attitude measurement information relating to an attitude of the vehicle; the second measuring equipment is used for measuring target object attitude measurement information related to the attitude of the target object; and a computing device for determining first angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information.
According to the aspect of the present embodiment, the first measurement device in the angular deviation measurement apparatus is used to measure vehicle attitude measurement information related to the attitude of the vehicle. And the second measurement device is operable to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The computing device may then determine angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information. Therefore, the calibration of the target object on the carrier is completed according to the angle deviation information measured by the angle deviation measuring system. And the whole process can be realized by only one person respectively operating the first measuring equipment and the second measuring equipment. Further, the problems that in the prior art, the work of detecting the angle deviation information of the target object on the carrier relative to the carrier needs to be completed by cooperation of multiple persons, so that the time consumption is long, the procedure is complex, the working efficiency is low, the use is inconvenient, and the field work is not suitable are solved.
The above and other objects, advantages and features of the present application will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic diagram of an angular deviation measurement system according to an embodiment of the present application;
FIG. 2 is a schematic diagram for calculating angular deviation information of a first axis and a second axis according to an embodiment of the present application;
fig. 3A is a schematic illustration of a vehicle being maneuvered using a first measurement device according to an embodiment of the present application;
fig. 3B is a schematic illustration of a horizontal reference point of a carrier according to embodiments of the present application;
FIG. 3C is a schematic view of a heading point of a vehicle according to the first aspect of the embodiments of the present application;
FIG. 4 is a schematic view of a centering rod according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a second axis of a target object measured by an optical collimating apparatus of a second measuring device according to an embodiment of the present application;
FIG. 6 is a schematic diagram of Euler angles between a carrier coordinate system and a geographic coordinate system of an optical collimating apparatus according to an embodiment of the present application;
FIG. 7 is a schematic cross-sectional inside view of an optical collimating apparatus according to an embodiment of the present application;
FIG. 8 is a schematic diagram of an optical system of an optical collimating apparatus according to an embodiment of the present application;
FIG. 9A is a schematic view of a detection image formed by co-projecting a first reticle and a second reticle onto an imaging plane according to an embodiment of the present application, wherein the axis of the optical alignment device according to FIG. 9A is not aligned with the second axis of the target object;
FIG. 9B is yet another schematic view of a detection image formed by the co-projection of a first reticle and a second reticle onto an imaging plane according to an embodiment of the present application, wherein the axis of the optical alignment device according to FIG. 9B is not aligned with the second axis of the target object;
FIG. 10A is a schematic diagram of a detection image formed by the first reticle and the second reticle collectively projected on an imaging plane according to an embodiment of the present application, wherein the pitch angle of the second axis of the target object with respect to the optical collimator shown in FIG. 10A is not zero;
FIG. 10B is a further schematic diagram of a detection image formed by the co-projection of the first reticle and the second reticle onto the imaging plane according to an embodiment of the present application, wherein the azimuth angle of the second axis of the target object with respect to the optical collimating device according to FIG. 10B is not zero;
FIG. 11 is a schematic cross-sectional interior view of a second measurement device according to an embodiment of the present application; and
FIG. 12 is a schematic bottom view of a second measurement device according to an embodiment of the present application.
Detailed Description
It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the technical solutions of the present disclosure better understood by those skilled in the art, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing the embodiments of the disclosure herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Geographic coordinate system (t system for short): origin at the centre of gravity, x, of the object to be measuredtThe axis pointing east, ytAxis north, ztThe axis points along the vertical to the sky, commonly referred to as the northeast coordinate system. There are also different methods for taking geographical coordinate systems, such as northwest, northeast, etc. The different orientation of the coordinate system only affects the different signs of the projection components of a certain vector in the coordinate system, and does not affect the explanation of the basic principle of the navigation of the tested object and the accuracy of the calculation result of the navigation parameters.
Vector coordinate system (b series for short): the carrier coordinate system is fixed on the measured object and its origin is at the gravity center, x, of the measured objectbWith axis pointing forward of the longitudinal axis of the object to be measured, ybThe axis pointing to the right of the object to be measured, zbAxis vertical OxbybThe plane is upward.
Fig. 1 is a schematic diagram of an angular deviation measurement system according to an embodiment of the present application, and referring to fig. 1, the angular deviation measurement system is used for measuring angular deviation information of a target object on a vehicle relative to the vehicle, and includes a first measurement device 100, a second measurement device 200, and a calculation device 300.
The first measurement apparatus 100 is for measuring vehicle attitude measurement information relating to the attitude of the vehicle; the second measurement device 200 is used for measuring target object attitude measurement information related to the attitude of the target object; the computing device 300 is configured to determine first angular deviation information of the target object relative to the vehicle based on the vehicle attitude measurement information and the target object attitude measurement information.
Specifically, referring to fig. 1, the first measurement apparatus 100 in the angular deviation measurement system is used to measure vehicle attitude measurement information related to the attitude of the vehicle. And the second measurement device 200 is used to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The computing device 300 may then determine first angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information. Which may be a computing device such as a computer processor.
As described in the background, existing measurement work typically requires manual measurement by hand. However, the manual measurement mode requires multiple persons to complete the measurement, so that the method has the disadvantages of long time consumption, complex procedure (for example, multiple persons are required to complete the measurement in a cooperative manner), low working efficiency, inconvenient use, unsuitability for field work and the like.
In view of this, according to the technical solution of the present embodiment, the first measurement apparatus 100 in the angular deviation measurement system is used to measure vehicle attitude measurement information related to the attitude of the vehicle. And the second measurement device 200 is used to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The computing device 300 may then determine first angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information. Therefore, according to the first angle deviation information measured by the angle deviation measuring system, the calibration of the target object on the carrier is completed.
And the whole process of the angular deviation measurement can be completed by only one person operating the first measuring device 100 and the second measuring device 200 respectively. Further, the problems that in the prior art, the work of detecting the angle deviation information of the target object on the carrier relative to the carrier needs to be completed by cooperation of multiple persons, so that the time consumption is long, the procedure is complex, the working efficiency is low, the use is inconvenient, and the field work is not suitable are solved.
Optionally, the operation of determining, from the vehicle attitude measurement information and the target object attitude measurement information, first angular deviation information of the target object relative to the vehicle comprises: determining vehicle attitude information of the vehicle based on the vehicle attitude measurement information; determining target object attitude information of the target object according to the target object attitude measurement information; and determining first angle deviation information of the target object relative to the vehicle according to the vehicle attitude information and the target object attitude information.
Specifically, referring to fig. 2, the computing apparatus 300 may determine first angle deviation information of the target object with respect to the vehicle, from the vehicle attitude measurement information and the target object attitude measurement information. For example, the computing apparatus 300 may first determine vehicle attitude information of the vehicle from the vehicle attitude measurement information. The computing device 300 may then determine target object pose information for the target object based on the target object pose measurement information. Finally, the computing device 300 may determine first angular deviation information of the target object relative to the vehicle based on the vehicle pose information and the target object pose information. And obtaining the angle deviation information of the target object on the carrier relative to the carrier, and further completing the calibration of the target object on the carrier.
Optionally, the vehicle attitude information comprises first pitch angle information and first azimuth angle information of the vehicle. The target object attitude information includes second pitch angle information and second azimuth angle information of the target object. And an operation of determining first angle deviation information from the vehicle attitude information and the target object attitude information, including: and determining azimuth angle deviation, pitch angle deviation and roll angle deviation of the target object relative to the vehicle according to the first azimuth angle information, the second azimuth angle information, the first pitch angle information and the second pitch angle information.
Specifically, referring to fig. 2, for example, a first axis of the vehicle and a second axis of the target object may be regarded as two out-of-plane spatial lines of space. In the northeast coordinate system, the three-dimensional orthogonal planes (the roll plane, the pitch plane and the azimuth plane) are projected to obtain the roll difference angle, the pitch difference angle and the azimuth difference angle between the two space out-of-plane straight lines, and specific solid geometry knowledge is not repeated here.
Thus, in this way, it is possible to determine the target object angle deviation information with respect to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information of the first and second measurement devices. Specifically, further specific details regarding the vehicle attitude measurement information and the target object attitude measurement information will be described later. Further, although in the present embodiment, the concept of the first axis of the carrier and the second axis of the target object is introduced, this is merely to facilitate understanding of the technical solution of the present embodiment by those skilled in the art. It is within the scope of the present disclosure as long as the angular deviation between the target object and the vehicle can be determined using the information measured by the measuring device in the system described in the present embodiment.
Alternatively, the first surveying device 100 is a geodetic surveying device, and the vehicle attitude measurement information includes a first set of coordinate information including coordinate information of a plurality of reference points provided on the outer surface of the vehicle. And an operation of determining vehicle attitude information from the vehicle attitude measurement information, including: vehicle attitude information is determined from coordinate information of the plurality of reference points.
In particular, referring to fig. 3A, in the case where a user needs to make attitude measurements of a vehicle (e.g., an aircraft), the user may determine a plurality of reference points on the outer surface of the vehicle. Where the frame structure, e.g. the carrier, is rigid and does not deform easily, it is possible to select a reference point on the rigid frame structure, thereby ensuring that the position of the reference point with respect to the machine axis does not change. Referring to fig. 3B and 3C, five reference points such as a horizontal reference point a, a horizontal reference point B, a horizontal reference point C, a heading reference point a ', and a heading reference point B' may be provided on the body of the vehicle, for example. Wherein the horizontal reference point C and the horizontal reference point B are symmetrical about the crankshaft. Since these five reference points are provided on the frame structure of the vehicle, the relative positions of these five reference points do not change regardless of the change in the attitude of the vehicle, and the positional relationship with the machine shaft is also fixed. Therefore, in the case of performing attitude measurement on the vehicle, the above five reference points can be selected as the reference points of the vehicle. Further, the horizontal reference point a, the horizontal reference point B, and the horizontal reference point C among the five reference points are distributed on the same horizontal plane in a state where the carrier is flat. The heading reference point A 'and the heading reference point B' are traditional heading reference points (located on the lower surface of the carrier body). By the relationship that the five reference points are located at fixed positions of a machine body coordinate system, if the coordinates of the five reference points are known, the positions of the machine shaft and the machine shaft surface of the carrier under the coordinate system can be calculated through the relationship between the coordinate information of the reference points and the machine shaft surface, and the attitude parameters of the machine body under the coordinate system can be obtained.
Further, referring to fig. 3A, the user may perform measurements related to a plurality of reference points using the geodetic apparatus and determine coordinate information of the plurality of reference points from the measurement results of the geodetic apparatus. Wherein the geodetic apparatus may be, but is not limited to, a total station, wherein the total station may be used, for example, to measure coordinate information of the target object.
Further, the computing apparatus 300 may determine vehicle attitude information of the vehicle from coordinate information of the plurality of reference points. The vehicle attitude information may include, for example, roll angle, pitch angle, azimuth angle, and the like of the vehicle in a three-dimensional space.
Thus, the user can measure the coordinate information of the reference point on the carrier using the geodetic surveying device and then calculate the attitude information of the carrier from the coordinate information of the reference point, achieving the effect of accurately measuring the attitude of the carrier in a short time. And the geodetic surveying equipment is convenient to carry, and can finish the measurement work of the carrier attitude in the field. Further, the technical problems that in the state that the carrier is not used, the method for measuring the attitude of the carrier needs to be completed by multiple persons in a cooperation mode, so that the method is long in time consumption, complex in procedure (for example, the method needs to be completed by multiple persons in a cooperation mode), low in working efficiency, inconvenient to use, not suitable for field work and the like are solved.
Alternatively, the plurality of reference points includes a first part of the reference points, and the operation of determining the posture information of the vehicle from the coordinate information of the plurality of reference points includes: determining plane information of a reference plane associated with the carrier from the coordinate information of the first part of the reference points, wherein the reference plane is parallel to a body plane of the carrier, and the body plane is a horizontally distributed plane in a case where the carrier is in a top-flat state; and determining vehicle attitude information from the plane information.
Specifically, referring to fig. 3B, the plurality of fiducials includes a first portion of fiducials. Where the first part of the reference points may be three points in a plane parallel to the carrier, such as points A, B and C in figure 3B. And the computing device determines attitude information of the vehicle from the plurality of pieces of coordinate information. Plane information of a reference plane associated with the carrier may be determined, for example, from coordinate information of the first part of the reference points, wherein the reference plane is parallel to a body plane of the carrier, and the body plane is a horizontally distributed plane in a case where the carrier is in a top-flat state. The computing device then determines the pitch angle and roll angle of the vehicle from the plane information. Wherein the plane information may comprise an equation of a reference plane.
Further, let horizontal reference point A (x)ap,yap,zap) Horizontal reference point B (x)bp,ybp,zbp) Horizontal reference point C (x)cp,ycp,zcp) Heading reference point A' (x)ah,yah,zah) Heading reference point B' (x)bh,ybh,zbh)。
Then the plane equation is solved: according to the structure of the carrier, the horizontal reference point A, the horizontal reference point B and the horizontal reference point C are always on a plane, the plane is parallel to the plane of the carrier body through a coordinate model, the plane of the carrier body can represent the pitching and rolling postures of the carrier body, the plane of the carrier body is calculated, and a plane equation is obtained:
horizontal vector
Horizontal vector
Normal vector of the plane
Plane vector cross product calculation:
is provided with
Wherein a isx、ay、az、bx、byAnd bzAre constant coefficients.
The normal vector of the plane is obtained by cross multiplication of the vectors, and is set as
Therefore, the attitude information of the body plane can be obtained by using the normal vector, and the attitude information of the carrier can be obtained by using the attitude information of the body plane.
In addition, the plane equation of the reference plane can also be calculated iteratively:
the general expression of the plane equation is:
Ax+By+Cz+1＝0，(C≠0)
recording:
then: a is0x+a1y+a2
And (3) plane equation fitting:
for a series of n points (n ≧ 3):
(xi,yi,zi),i＝0,1,…,n-1
point of interest (x)i,yi,zi) The above plane equation is calculated by fitting i to 0,1, …, n-1, such that:
To minimize S, one should satisfy:
namely:
the method comprises the following steps of (1) preparing,
or the like, or, alternatively,
solving the linear equation set to obtain: a is0,a1,a2
Namely: a is0x+a1y+a2
Similarly, when the plane equation is set to Ax + By + C ═ Z, an iterative solution of the equation can be obtained. The attitude information of the vehicle can thus also be determined using this equation.
Optionally, the plurality of reference points further includes a second part of reference points located outside the reference plane, and the operation of determining the attitude information of the vehicle from the plane information further includes: the vehicle attitude information is determined based on the plane information and the coordinate information of the second partial reference points.
Specifically, referring to fig. 3B and 3C, the plurality of reference points further includes a second part of reference points (e.g., a heading reference point a 'and a heading reference point B' shown in fig. 3C) located outside the reference plane. And the attitude information of the vehicle is determined based on the plurality of pieces of coordinate information, and the attitude information of the vehicle may be determined based on, for example, the plane information and the coordinate information of the second partial reference points.
In particular, the normal vector to be calculated according to the above
The plane equation of the plane can be obtained by substituting the coordinates of the horizontal measuring point B:
xn·x+yn·y+znz + D ═ 0 where D ═ xn·xbp+yn·ybp+zn·zbp)
The horizontal reference points B and C are symmetrical about the axis of the vehicle, depending on the mechanical characteristics, and perpendicular to the centre of the earth
In combination, roll angle information for the vehicle can be calculated:
roll angle
The pitch angle information and the azimuth angle information of the vehicle are calculated by two points under the abdomen.
Projecting the heading reference point under the belly to the plane where the horizontal reference point is located, and calculating the attitude of the pitch angle and the azimuth angle by using the projected heading vector.
Let the projection coordinate of the heading reference point A' be A (x)a,ya,za) The projection coordinate of the heading reference point B' is B (x)b,yb,zb)。
Point-to-plane projection coordinate calculation:
by
Therefore, the following steps are carried out:
due to A (x)a,ya,za) For a point on a plane, satisfy the plane equation xn·xa+yn·ya+zn·zaWhen + D is equal to 0, the equation is substituted
The value of (b) is brought back to obtain the projection coordinate A (x)a,ya,za) And B (x)b,yb,zb) The value of (c).
Projection vector
By using the angle with respect to the centre of the earth
Can calculate the pitch angle theta by using the relation perpendicular to the center of the earth
Can calculate the azimuth angle in the total station coordinate system.
Further, when calculating the azimuth ψ, it is necessary to place the projection vector and the total station on the same plane, i.e. to set the height difference of the projection vector to zero. Namely, it is
Wherein the azimuth angle is the included angle between the axis of the carrier and the N direction of the coordinate system of the total station (in the case that the geodetic surveying equipment is the total station), and on the basis, the included angle between the N direction and the geomagnetic north is established according to the total station when the coordinate system is established
Thereby calculating the included angle between the crankshaft and the north direction of the geomagnetism. And then the attitude information of the vehicle of the roll angle, the pitch angle and the azimuth angle of the vehicle can be calculated through the solving process.
Further, as shown with reference to fig. 4, the attitude measurement method of the carrier may further include providing a plurality of centering bars on the carrier, the centering bars corresponding to positions of the plurality of reference points, respectively. Since the geodetic apparatus is placed on one side of the vehicle, reference points not visible to the geodetic apparatus (for example, reference points located on the other side of the vehicle and on the belly of the vehicle) can be led out with the centering rod. And the user performs the operation of measurement related to the plurality of reference points using the geodetic apparatus, it is possible to measure coordinate information of measurement points on the plurality of centering bars (measurement points corresponding to the reference points drawn out using the centering bars) using the geodetic apparatus. Therefore, a user can lead out a measuring point corresponding to the reference point which can not be observed by the geodetic measuring equipment downwards through the centering rod, then the coordinate information of the measuring point is measured through the geodetic measuring equipment, and further the measurement of the attitude information of the carrier is completed. In addition, the head of the centering rod is provided with an alignment component, so that the height of the centering rod can be accurately positioned, the lower part of the centering rod is provided with an accurate dimension reticle, the total station can be ensured to measure measuring points which have accurate corresponding relation with a machine shaft, the leading-out rod is naturally static in a plumb state during use, the state of the centering rod at each measuring point is ensured to be consistent, and the measured data can be ensured to accurately reflect the posture of the carrier. In order to adapt to datum points at different positions, two kinds of centering rods, namely a long centering rod and a short centering rod, are designed, as shown in fig. 4. The long rod 2 can be supported on the ground, and the short rod 1 needs to be held by hands to support a measuring point.
Optionally, the second measurement apparatus 200 comprises an optical collimating device 210 and an attitude measurement device 220. The optical collimator 210 is configured to measure second angular deviation information from a measurement plane S1 disposed on the target object. The attitude measurement device 220 is connected to the optical collimator 210 for measuring optical collimator attitude measurement information related to the attitude of the optical collimator 210. Wherein the target object attitude measurement information includes second angle deviation information and optical collimator attitude measurement information, and the operation of determining the target object attitude information according to the target object attitude measurement information includes: and determining the attitude information of the target object according to the second angle deviation information and the attitude measurement information of the optical collimating device.
Specifically, referring to fig. 5, the optical collimator 210 may be directed toward the measurement plane S1 set on the target object, so as to acquire second angular deviation information between the axis of the optical collimator 210 and the normal line of the measurement plane S1. Wherein the axis of the optical collimating device 210 is parallel to the second axis of the target object with the optical collimating device 210 aligned with the measuring plane S1. The second angular deviation information may thus be used to indicate the angular deviation between the axis of the optical collimating device 210 and the second axis of the target object. For example, on the coordinate axis (for example x) of the measurement plane S1 and the carrier coordinate system of the target objectb2Axis) is vertical, the normal line of the measurement plane S1 is parallel to the second axis of the target object. The angular deviation can reflect the carrier coordinate system Ox of the target objectb2yb2zb2With the carrier coordinate system Ox of the first optical collimating means 10b1yb1zb1The angular deviation therebetween may also reflect second angular deviation information of the second axis of the target object relative to the axis of the optical collimator 210. For example, the second axis of the target object is offset in azimuth and offset in pitch with respect to the axis of the optical collimator 210.
Further, referring to fig. 6, the attitude measurement device 220 is used to measure optical collimator attitude measurement information related to the attitude of the optical collimator 210. The computing apparatus 300 may thus determine target object pose information, for example, based on the second angular deviation information and the optical collimator pose measurement information.
In particular, for example (but not limited to), computing apparatus 300 may determine optical collimator pose information for optical collimator 210 from the optical collimator pose measurement information. For example, referring to fig. 4, the attitude information of the optical collimator 210 may be, for example, a carrier coordinate system Ox of the optical collimator 210b1yb1zb1Relative to the geographical coordinate system Ox of the optical collimating means 210t1yt1zt1Euler angle (α)1，β1，θ1) Which is used to indicate the azimuth, pitch, and roll of the optical collimating device 210 with respect to a geographic coordinate system.
The computing device 300 can thus be based on the carrier coordinate system Ox of the target objectb2yb2zb2With the carrier coordinate system Ox of the optical collimator 210b1yb1zb1And optical collimator attitude measurement information related to the attitude of the optical collimator 210, determines the geographic coordinate system Ox of the target object relative to the first optical collimatort1yt1zt1I.e. target object pose information of the target object.
For example, it can be based on the carrier coordinate system Ox of the optical collimator 210b1yb1zb1Relative to a geographical coordinate system Oxt1yt1zt1Azimuth and pitch angle of and a carrier coordinate system Ox of the target objectb2yb2zb2With the carrier coordinate system Ox of the optical collimator 10b1yb1zb1Determining the geographic coordinate system Ox of the target object with respect to the optical collimator 210t1yt1zt1Azimuth angle and pitch angle. Moreover, since the distance between the vehicle and the optical collimating device 210 to the target object is relatively short, the angular deviation between the geographic coordinates of the vehicle and the target object is negligible. The first angle deviation can thus be determined using the finally determined target object attitude information and the vehicle attitude information.
In this way, the attitude information related to the target object can be determined without contacting the target object, thereby improving the detection efficiency.
Optionally, the optical collimating means 210 comprises: a light source 211; an image acquisition unit 212; a first reticle 213 disposed in front of the light source; a second dividing plate 214 disposed in front of the image capturing unit 212; and an optical system disposed between the first reticle 213 and the second reticle 214. Wherein the optical system is used to project the light source light emitted by the light source 211 and passing through the first reticle 213 onto the measurement plane S1, and to project the light source light reflected back from the measurement plane S1 onto the image acquisition unit 212 via the second reticle 214. And, the second angular deviation information includes a detection image collected by the image collecting unit 212, wherein the detection image includes a first image of the first reticle 213 and a second image of the second reticle 214.
In particular, fig. 7 schematically shows a schematic cross-sectional view of the optical collimating device 210. Referring to fig. 7, the first optical collimating device 210 includes: a light source 211, an image acquisition unit 212, a first reticle 213 disposed in front of the light source, a second reticle 214 disposed in front of the image acquisition unit 212, and an optical system. Fig. 8 schematically shows a structure of the optical system. Referring to fig. 8, the optical system includes an objective lens 215, a prism 216, and an eyepiece lens 217, wherein the first reticle 120 and the second reticle 130 are located on a focal plane of the objective lens 215 and the eyepiece lens 217 through a spectroscopic conjugate of the prism 430.
Further, as shown in fig. 7 and 8, for example, a measurement surface S1 may be provided on the target object. According to the optical path reversible imaging principle, the light source light emitted by the light source 211 passes through the first reticle 213 and then passes through the objective lens 215 to be irradiated as parallel light to the measurement surface S1 disposed on the target object. Then, the image is reflected by the measurement surface S1, passes through the objective lens 215 and the eyepiece lens 217 again, and is imaged at the image surface position of the objective lens 215. Since the second reticle 214 is located at the image plane position of the objective lens 215, the optical system projects the light source light reflected back from the target object as parallel light to the image pickup unit 212 via the second reticle 214. So that the image pickup unit 212 disposed on the imaging plane can pick up a detection image including a first image of the first scribe line of the first reticle 213 and a second image of the second scribe line of the second reticle 214, as shown in fig. 9A and 9B.
Specifically, when the second axis of the target object is not parallel to the axis of the optical collimator 210, that is, the pitch difference angle and the azimuth difference angle between the two spatially coplanar straight lines are not zero, as shown in fig. 9A and 9B, the images formed by the first reticle 213 and the second reticle 214 projected together on the imaging plane are as shown in fig. 9A or 9B. The centers of the crosses of the first image of the first reticle 213 and the second image of the second reticle 214 are separated by a distance, and are not in a coincident position, meaning that the axis of the optical alignment device 210 is not parallel, i.e. there is an angular deviation, with the second axis of the target object.
The light source can be a 1550nm optical fiber light source (SFS) which is based on Amplified Spontaneous Emission (ASE) of an erbium-doped optical fiber, and the optical fiber light source has the advantages of good temperature stability, large output power, long service life and low polarization correlation. Further, the image capturing unit 110 is, for example, but not limited to, a trigger CCD camera.
Optionally, the operation of determining the attitude information of the target object according to the second angle deviation information and the attitude measurement information of the optical collimator includes: determining the azimuth angle deviation and the pitch angle deviation of the target object and the optical collimating device according to the positions of the first image and the second image; determining the attitude information of the optical collimating device 210 of the optical collimating device according to the attitude measurement information of the optical collimating device, wherein the attitude information of the optical collimating device comprises an azimuth angle and a pitch angle of the optical collimating device 210; and determining the attitude information of the target object according to the attitude information of the optical collimating device, the azimuth angle deviation and the pitch angle deviation.
Referring specifically to fig. 10A and 10B, when the axis of the optical collimating device 210 is not parallel to the second axis of the target object, the cross of the first image and the cross of the second image may not coincide. Where there is a pitch angle deviation between the axis of the optical collimator 210 and the second axis of the target object, there is a positional deviation between the first image and the second image in the vertical direction as in fig. 10A. When there is an azimuthal deviation of the axis of the optical collimating device 210 from the second axis of the target object, there is a positional deviation of the first image and the second image in the horizontal direction as in fig. 10B.
Referring also to fig. 9A and 9B, when there is an azimuth and a pitch angle deviation of the axis of the optical collimating device 210 from the second axis of the target object, there is a positional deviation of the first image and the second image in both the horizontal direction and the vertical direction. Therefore, the azimuth angle deviation and the pitch angle deviation of the second axis of the target object with respect to the optical collimating device 210 can be determined according to the positions of the first image and the second image.
Specifically, the posture information of the target object is determined from the first picture and the second picture projected on the image pickup unit 212. Wherein the second image is used as a reference image, and the relative displacement (Δ x, Δ y) of the first image relative to the second image can be obtained. And the azimuthal angle deviation k of the second axis of the target object with respect to the optical collimating device 210 can be found by the following formulaiAnd a pitch angle deviation phii。
ki＝Δx/Sx
φi＝Δy/Sy
Wherein SxIs a scale factor in the horizontal direction, SyIs a scale factor in the vertical direction. And wherein SxAnd SyIn pixels/arcsec (height imaged per arcsec resolution/CCD size), these two parameters can be calibrated in advance.
Furthermore, as previously described, the optical collimator attitude information of the optical collimator 210, i.e., the azimuth, pitch, and roll of the optical collimator 210, may be determined based on the optical collimator attitude measurement information.
Thereby taking advantage of the azimuthal angle α of the optical collimating device 2101And pitch angle β1And the above-mentioned azimuth angle deviation kiAnd a pitch angle deviation phiiDetermining the azimuth and pitch of the second axis of the target objectAs target object pose information, specifically, the azimuth α of the optical collimation device 210 may be utilized1And azimuth angle deviation kiAnd the sum to determine the azimuth of the target object, and the pitch β using the optical collimation device 2101And pitch angle offset β1And summing to determine the pitch angle of the target object.
Therefore, in this way, the technical solution of the embodiment can calculate the angle deviation between the optical collimator 210 and the target object by using optical projection imaging and image processing techniques, so as to not only ensure the accuracy of detection, but also calculate the target object posture information of the target object in real time.
Optionally, the attitude measurement device 220 includes: gyroscopes 221a, 221b, 221c and accelerometers 222a, 222b, 222 c. The optical collimator attitude measurement information includes information measured by gyroscopes 221a, 221b, 221c and accelerometers 222a, 222b, 222 c. The operation of determining optical collimator pose information for optical collimator 210 based on the optical collimator pose measurement information includes: optical collimator attitude information is determined using a strapdown inertial navigation algorithm based on information measured by the gyroscopes 221a, 221b, 221c and accelerometers 222a, 222b, 222 c.
Specifically, fig. 11 and 12 exemplarily show a schematic internal cross-sectional view of the attitude measurement device 220. Referring to fig. 11 and 12, the attitude measurement device 220 includes a first gyroscope 221a, a second gyroscope 221b, and a third gyroscope 221c that are disposed perpendicular to each other. And attitude measurement device 220 further includes a first accelerometer 222a, a second accelerometer 222b, and a third accelerometer 222c disposed perpendicular to each other. The angular motion information of the optical collimating device 210 is measured by the gyroscopes 221a, 221b, 221c, and the linear velocity information of the optical collimating device 210 is measured by the accelerometers 222a, 222b, 222c, so that the orientation relationship of the carrier coordinate system of the optical collimating device 210 with respect to the geographic coordinate system, that is, the attitude information of the optical collimating device 210, can be calculated according to the strapdown inertial navigation algorithm. For specific details of the strapdown inertial navigation algorithm, reference may be made to related prior art, and detailed description is not repeated in this specification.
In addition, although in the present embodiment, the strapdown inertial navigation algorithm is described as an example. However, the optical collimator attitude measurement information is not limited thereto, and for example, the optical collimator attitude measurement information may be information on the azimuth angle, the pitch angle, and the roll angle of the optical collimator 210 measured by the attitude measurement device 220. Therefore, the attitude information of the target object can be determined by directly utilizing the attitude measurement information of the optical collimating device without calculating the attitude information of the optical collimating device.
Further, since the accuracy of the gyroscopes 221a, 221b, 221c directly affects the accuracy of the measured first attitude information of the first optical collimator 210, and ultimately the accuracy of the determined attitude of the measured object. In order to ensure the precision, a high-precision fiber-optic gyroscope can be adopted. Or a gyroscope with the accuracy of 1% is selected, and the accuracy gyroscope can ensure that the course keeps 0.01 degree per hour and meets the requirement of measurement accuracy.
Further, accelerometers 222a, 222b, 222c may be implemented as quartz flexure accelerometers, which are mechanically pendulum force balanced servo accelerometers. When the pendulum is sensed to input acceleration, it will generate an inertial moment about the flexible pivot, under which moment the pendulum makes an angular movement about the flexible pivot, generating an angular displacement. The differential capacitance sensor converts the displacement into capacitance variation and transmits the capacitance variation to the analog amplifier, and the analog amplifier converts the capacitance variation into a current signal and transmits the current signal to the torquer to generate restoring torque. When the restoring moment is balanced with the moment of inertia of the pendulum, the current value to the torquer can be used to measure the magnitude of the input acceleration.
Further, referring to fig. 1, the angular deviation measurement system further includes a display device 400, the display device 400 being used to display vehicle attitude information of the vehicle, target object attitude information, and first angular deviation information. So that the position of the target object can be continuously calibrated according to the first angle deviation information displayed by the display device 400.
As described above, according to the aspect of the present embodiment, the first measurement device in the angular deviation measurement apparatus is configured to measure vehicle attitude measurement information related to the attitude of the vehicle. And the second measurement device is operable to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The computing device may then determine angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information. Therefore, the calibration of the target object on the carrier is completed according to the angle deviation information measured by the angle deviation measuring system.
Therefore, the whole process can be realized only by respectively operating the first measuring equipment and the second measuring equipment by one person. Further, the problems that in the prior art, the work of detecting the angle deviation information of the target object on the carrier relative to the carrier needs to be completed by cooperation of multiple persons, so that the time consumption is long, the procedure is complex, the working efficiency is low, the use is inconvenient, and the field work is not suitable are solved. The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the description of the present disclosure, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are presented only for the convenience of describing and simplifying the disclosure, and in the absence of a contrary indication, these directional terms are not intended to indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the disclosure; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An angular deviation measurement system for measuring angular deviation information of a target object on a vehicle relative to the vehicle, comprising: a first measurement device (100), a second measurement device (200) and a computing device (300) communicatively connected to the first measurement device (100) and the second measurement device (200), wherein
The first measurement device (100) is configured to measure vehicle attitude measurement information related to an attitude of the vehicle;
the second measurement device (200) is for measuring target object attitude measurement information related to an attitude of the target object; and
the computing device (300) is configured to determine first angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information.
2. The angular deviation measurement system of claim 1, wherein determining first angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information comprises:
determining vehicle attitude information of the vehicle from the vehicle attitude measurement information;
determining target object attitude information of the target object according to the target object attitude measurement information; and
and determining the first angle deviation information according to the carrier attitude information and the target object attitude information.
3. The angular deviation measurement system according to claim 2,
the vehicle attitude information includes first pitch angle information and first azimuth angle information of the vehicle, and the target object attitude information includes second pitch angle information and second azimuth angle information of the target object, and
an operation of determining the first angle deviation information from the vehicle attitude information and the target object attitude information, including:
and determining azimuth angle deviation, pitch angle deviation and roll angle deviation of the target object relative to the vehicle according to the first azimuth angle information, the second azimuth angle information, the first pitch angle information and the second pitch angle information.
4. The angular deviation measurement system according to claim 3, wherein the first measurement apparatus (100) is a geodetic apparatus, and the vehicle attitude measurement information includes a first set of coordinate information including coordinate information of a plurality of reference points provided on an outer surface of the vehicle, and the operation of determining the vehicle attitude information from the vehicle attitude measurement information includes: determining the vehicle attitude information from the coordinate information of the plurality of reference points.
5. The angular deviation measurement system of claim 4, wherein the plurality of reference points includes a first portion of reference points, and the operation of determining the vehicle attitude information from the coordinate information of the plurality of reference points comprises:
determining plane information of a reference plane associated with the carrier from the coordinate information of the first part of the reference points, wherein the reference plane is parallel to a body plane of the carrier, and the body plane is a horizontally distributed plane in a case where the carrier is in a top-flat state; and
determining the vehicle attitude information from the plane information.
6. The angular deviation measurement system of claim 5, wherein the plurality of reference points further includes a second portion of reference points located outside the reference plane, and the operation of determining the vehicle attitude information from the plane information further comprises:
determining the vehicle attitude information from the plane information and the coordinate information of the second partial reference points.
7. The angular deviation measurement system according to claim 3, wherein the second measurement device (200) comprises:
an optical collimating device (210) for measuring second angular deviation information with a measuring plane (S1) disposed at the target object; and
an attitude measurement device (220) coupled to the optical collimating device (210) for measuring optical collimating device attitude measurement information related to an attitude of the optical collimating device (210), and wherein the target object attitude measurement information includes the second angular deviation information and the optical collimating device attitude measurement information, and the operation of determining the target object attitude information from the target object attitude measurement information includes: and determining the attitude information of the target object according to the second angle deviation information and the attitude measurement information of the optical collimation device.
8. The angular deviation measurement system of claim 7, wherein the optical collimating means (210) comprises: a light source (211); an image acquisition unit (212); a first reticle (213) disposed in front of the light source; a second reticle (214) disposed in front of the image acquisition unit (212); and an optical system, wherein
The optical system is used for projecting light source light emitted by the light source (211) and passing through the first reticle (213) onto the measurement plane (S1), and projecting the light source light reflected back from the measurement plane (S1) via the second reticle (214) onto the image acquisition unit (212), and
the second angular deviation information comprises a detection image acquired by the image acquisition unit (212), wherein the detection image comprises a first image of a first reticle of the first reticle (213) and a second image of a second reticle of the second reticle (214).
9. The angular deviation measurement system of claim 8, wherein the operation of determining the target object pose information from the second angular deviation information and the optical alignment device pose measurement information comprises:
determining azimuth angle deviation and pitch angle deviation of the target object and the optical collimating device according to the positions of the first image and the second image;
determining optical collimator attitude information of the optical collimator (210) according to the optical collimator attitude measurement information, wherein the optical collimator attitude information comprises an azimuth angle and a pitch angle of the optical collimator (210); and
and determining the attitude information of the target object according to the attitude information of the optical collimating device, the azimuth angle deviation and the pitch angle deviation.
10. The angular deviation measurement system according to claim 9, wherein the attitude measurement device (220) comprises: -a gyroscope (221a, 221b, 221c) and an accelerometer (222a, 222b, 222c), and-the optical collimating device attitude measurement information comprises information measured by the gyroscope (221a, 221b, 221c) and the accelerometer (222a, 222b, 222c), and-from the optical collimating device attitude measurement information, an operation of determining optical collimating device attitude information of the optical collimating device (210), comprising: determining the optical collimator attitude information using a strapdown inertial navigation algorithm based on information measured by the gyroscopes (221a, 221b, 221c) and the accelerometers (222a, 222b, 222 c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010093757.5A CN111238439B (en) | 2020-02-14 | 2020-02-14 | Angular deviation measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010093757.5A CN111238439B (en) | 2020-02-14 | 2020-02-14 | Angular deviation measuring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111238439A true CN111238439A (en) | 2020-06-05 |
| CN111238439B CN111238439B (en) | 2022-06-10 |
Family
ID=70871407
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010093757.5A Active CN111238439B (en) | 2020-02-14 | 2020-02-14 | Angular deviation measuring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111238439B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114459350A (en) * | 2022-02-10 | 2022-05-10 | 合肥惟新半导体科技有限公司 | PCB board intellectual detection system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4032759A (en) * | 1975-10-24 | 1977-06-28 | The Singer Company | Shipboard reference for an aircraft navigation system |
| CN1563889A (en) * | 2004-03-26 | 2005-01-12 | 清华大学 | Laser tracking inertia combined measuring system and its measuring method |
| CN102288133A (en) * | 2011-04-29 | 2011-12-21 | 北京星网宇达科技开发有限公司 | Installation deflection angle calibration method of gyro indirect stable system |
| CN103234555A (en) * | 2013-04-18 | 2013-08-07 | 中国科学院长春光学精密机械与物理研究所 | Photoelectric stabilized platform assembly zero calibration method |
| CN103424125A (en) * | 2013-08-08 | 2013-12-04 | 江西洪都航空工业集团有限责任公司 | Method for measuring reference installation error of optical axis of unmanned aerial vehicle |
| CN105021211A (en) * | 2015-06-05 | 2015-11-04 | 中国船舶重工集团公司第七0七研究所 | Attitude testing apparatus and method based on autocollimator |
| CN105891821A (en) * | 2016-05-24 | 2016-08-24 | 北京环境特性研究所 | Automatic tracking method of airborne downward-looking measurement target |
| CN107589431A (en) * | 2017-04-24 | 2018-01-16 | 西安应用光学研究所 | A kind of boresight method for improving airborne lidar for fluorescence target location accuracy |
| CN108981754A (en) * | 2018-09-28 | 2018-12-11 | 中国科学院长春光学精密机械与物理研究所 | A kind of method of photoelectric platform and carrier aircraft setting angle zero position |
| CN110455277A (en) * | 2019-08-19 | 2019-11-15 | 哈尔滨工业大学 | High-precision attitude measuring device and method based on internet of things data fusion |
| CN110672017A (en) * | 2019-10-11 | 2020-01-10 | 大连海事大学 | Vibration compensation platform of laser displacement sensor |
-
2020
- 2020-02-14 CN CN202010093757.5A patent/CN111238439B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4032759A (en) * | 1975-10-24 | 1977-06-28 | The Singer Company | Shipboard reference for an aircraft navigation system |
| CN1563889A (en) * | 2004-03-26 | 2005-01-12 | 清华大学 | Laser tracking inertia combined measuring system and its measuring method |
| CN102288133A (en) * | 2011-04-29 | 2011-12-21 | 北京星网宇达科技开发有限公司 | Installation deflection angle calibration method of gyro indirect stable system |
| CN103234555A (en) * | 2013-04-18 | 2013-08-07 | 中国科学院长春光学精密机械与物理研究所 | Photoelectric stabilized platform assembly zero calibration method |
| CN103424125A (en) * | 2013-08-08 | 2013-12-04 | 江西洪都航空工业集团有限责任公司 | Method for measuring reference installation error of optical axis of unmanned aerial vehicle |
| CN105021211A (en) * | 2015-06-05 | 2015-11-04 | 中国船舶重工集团公司第七0七研究所 | Attitude testing apparatus and method based on autocollimator |
| CN105891821A (en) * | 2016-05-24 | 2016-08-24 | 北京环境特性研究所 | Automatic tracking method of airborne downward-looking measurement target |
| CN107589431A (en) * | 2017-04-24 | 2018-01-16 | 西安应用光学研究所 | A kind of boresight method for improving airborne lidar for fluorescence target location accuracy |
| CN108981754A (en) * | 2018-09-28 | 2018-12-11 | 中国科学院长春光学精密机械与物理研究所 | A kind of method of photoelectric platform and carrier aircraft setting angle zero position |
| CN110455277A (en) * | 2019-08-19 | 2019-11-15 | 哈尔滨工业大学 | High-precision attitude measuring device and method based on internet of things data fusion |
| CN110672017A (en) * | 2019-10-11 | 2020-01-10 | 大连海事大学 | Vibration compensation platform of laser displacement sensor |
Non-Patent Citations (1)
| Title |
|---|
| 王习文等: "《飞机三维姿态测量的角平分线方向向量法》", 《光学精密工程》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114459350A (en) * | 2022-02-10 | 2022-05-10 | 合肥惟新半导体科技有限公司 | PCB board intellectual detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111238439B (en) | 2022-06-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11035659B2 (en) | Inertial dimensional metrology | |
| US8138938B2 (en) | Hand-held positioning interface for spatial query | |
| CN109269471A (en) | A kind of novel GNSS receiver inclinometric system and method | |
| Ellum et al. | The development of a backpack mobile mapping system | |
| US9560335B2 (en) | Device and system for three-dimensional scanning, and method thereof | |
| CN105953795B (en) | A kind of navigation device and method for the tour of spacecraft surface | |
| CN103424124A (en) | Nonmagnetic inertial navigation unit calibration method based on image measuring technologies | |
| CN108375383A (en) | The airborne distribution POS flexibility base line measurement method and apparatus of polyphaser auxiliary | |
| CN111238439B (en) | Angular deviation measuring system | |
| CN211601925U (en) | Angular deviation measuring system | |
| CN111238441B (en) | Angular deviation measuring method, angular deviation measuring device, and storage medium | |
| JP2013185898A (en) | State estimation device | |
| JP2019168406A (en) | Target device and surveying system | |
| CN103630109A (en) | Method for determining geocentric vector based on stellar refraction | |
| CN111307108B (en) | Method and system for measuring attitude of vehicle | |
| CN111238438B (en) | Non-contact attitude measurement method and storage medium | |
| CN111238412B (en) | Measuring method, system and storage medium | |
| CN111307072B (en) | Measuring platform system and measuring system | |
| Lobo et al. | Integration of inertial information with vision towards robot autonomy | |
| CN111678451B (en) | Method and apparatus for measuring deformation of carrier, and storage medium | |
| CN211576208U (en) | Attitude information acquisition equipment | |
| Boronakhin et al. | Test beds for small-sized inertial systems and sensors | |
| CN111238440B (en) | Non-contact attitude measurement system | |
| CN111623775B (en) | Vehicle attitude measurement system, method, and storage medium | |
| CN111504344B (en) | Calibration system and method for calibrating non-contact attitude measurement equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |