CN111238529B - Attitude measuring instrument precision calibration device and method based on starlight measurement - Google Patents
Attitude measuring instrument precision calibration device and method based on starlight measurement Download PDFInfo
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- CN111238529B CN111238529B CN201811434642.7A CN201811434642A CN111238529B CN 111238529 B CN111238529 B CN 111238529B CN 201811434642 A CN201811434642 A CN 201811434642A CN 111238529 B CN111238529 B CN 111238529B
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Abstract
The invention relates to a precision calibrating device and a method of an attitude measuring instrument based on starlight measurement, wherein the device comprises a GPS receiver, a double-head star-sensitive attitude measuring device, a self-leveling servo tracking table and a rigid base, and calibrated equipment is an attitude measuring instrument; the method comprises the following steps: step 1, installing the calibrating device and the calibrated equipment on a movable base, and ensuring that the periphery of the device is clear and free from shielding so as to facilitate a GPS antenna to smoothly receive GPS satellite signals; step 2, after starting up, starting the work of each single machine device; step 3, the calibration control computer samples the azimuth axis, the pitch axis and the roll axis code wheel on the self-leveling servo tracking table respectively; and step 4, calculating to obtain the hexahedral gesture matrix of the adjustment platform base according to a gesture conversion algorithm. According to the invention, the gesture of the sensitive astronomical star relative to a certain point on the earth is high in gesture measurement precision, the dynamic performance can meet the requirements, and the aim of calibrating a high-precision gesture measurement system can be fulfilled.
Description
Technical Field
The invention belongs to the field of measurement and calibration of attitude angles in dynamic environments, and particularly relates to an attitude measuring instrument precision calibration device and method based on starlight measurement.
Background
The attitude measuring instrument can establish a three-dimensional attitude reference under a dynamic environment and can be used for the work of attitude determination on a ship under the sea state condition, but no mature technology exists for the calibration of the attitude measuring instrument, the environment of a movable base can only be simulated by utilizing a swinging table at present under a laboratory environment, and the actual sea state test environment is the complex comprehensive form of various motions of the ship, and also contains a plurality of random factors, so that the metering calibration of the attitude measuring instrument on a ship body in actual use is necessary to be carried out.
Disclosure of Invention
The invention aims at: by utilizing a high-precision starlight measuring device, the three-dimensional attitude angle of the base is calculated through starlight measurement, and the method for calibrating the attitude angle is designed to provide an attitude measuring instrument, so that the difficulty in calibrating the attitude measuring instrument is solved.
The technical scheme of the invention is as follows: the utility model provides a posture measuring instrument precision calibration device based on starlight measurement, includes GPS receiver, double-end star-sensitive attitude measurement device, self-leveling servo tracking platform and rigid base, is calibrated equipment and is the posture measuring instrument;
the GPS receiver comprises an antenna sucker seat, a GPS antenna and a GPS receiving processing card, wherein the GPS antenna is arranged at the top of the antenna sucker seat through threads, and the GPS receiving processing card is embedded into a processing computer of the double-head star-sensitive gesture measuring device;
the double-head star-sensitive attitude measurement device comprises a star sensor A, a star sensor B, a star-sensitive reference hexahedron and a star-sensitive base, wherein the star sensor A, the star sensor B and the star-sensitive reference hexahedron are fastened on the star-sensitive base through screws; the gesture output by the double-head star-sensitive gesture detection device is the gesture of a star-sensitive reference hexahedron;
the self-leveling servo tracking table comprises an azimuth servo tracking shaft, a leveling table hexahedron, a leveling table pitching frame, a leveling table rolling frame, a rolling shaft code disc, a leveling table base hexahedron and a pitching shaft code disc;
the control system controls the azimuth motor to drive the double-head star-sensitive attitude measuring device at the top of the azimuth servo tracking shaft to rotate relative to the pitching frame of the leveling platform, and the azimuth code disc measures the rotation angle in real time;
the leveling table pitching frame is provided with a leveling table hexahedron on side, so that the normal line of the corresponding surface of the leveling table hexahedron is ensured to be parallel to a pitching axis, and the leveling table hexahedron is fastened through screws;
the leveling platform pitching frame is connected with the leveling platform rolling frame through a pitching shaft system; a motor and a screw rod are arranged at one end, far away from a pitching axis, of the pitching frame of the leveling platform, the control system controls the motor to rotate, and the motor drives the screw rod to rise and fall, so that the pitching frame of the leveling platform rotates along the pitching axis; one end of the pitching shaft system is provided with a pitching shaft code disc for measuring the rotation angle of the pitching shaft in real time;
the leveling table transverse rolling frame is connected with the leveling table base through a transverse rolling shaft system; a motor and a screw rod are arranged at one end, far away from the rolling shaft system, of the leveling table rolling frame, the control system controls the motor to rotate, and the motor drives the screw rod to rise and fall, so that the leveling table rolling frame rotates along the rolling shaft system; one end of the transverse rolling shaft system is provided with a transverse rolling shaft code disc for measuring the rotation angle of the transverse rolling shaft in real time; the self-leveling servo tracking table is orthogonal in pitching and rolling axes, and the azimuth axis is orthogonal with the pitching axis;
the side surface of the platform adjusting base is provided with a platform adjusting base hexahedron, so that the normal line of the corresponding surface of the platform adjusting base hexahedron is ensured to be parallel to the transverse rolling shaft, and the platform adjusting base hexahedron is fastened through screws;
after the self-leveling servo tracking table is assembled, the placing base is adjusted to enable the bottom surface of the rolling frame of the leveling table to be in a horizontal state, the pitching and rolling shaft systems are adjusted to enable the top instrument installation surface of the pitching frame of the leveling table to be in a horizontal state, the postures of the hexahedron of the leveling table surface and the hexahedron of the base of the leveling table are calibrated to be consistent, and the angle values of the rolling shaft code disc and the pitching shaft code disc in the horizontal state are recorded and recorded as zero positions.
Further, the double-head star-sensitive gesture detection device is fixed at the top of an azimuth servo tracking shaft of the self-leveling servo tracking table, the bottom of a table base of the self-leveling servo tracking table is fixed on a rigid base, and a GPS antenna of a GPS receiver is adsorbed beside the whole device through an antenna sucker base and is not more than 1m away from the double-head star-sensitive gesture detection device.
Further, after the double-head star-sensitive attitude measurement device is installed on the self-leveling servo tracking table, the installation attitudes of the star-sensitive reference hexahedron and the leveling table surface hexahedron are calibrated to be consistent in horizontal two-way; rotating a servo tracking azimuth axis system, and recording an angle value of an azimuth code disc when the azimuth of the star-sensitive reference hexahedron is consistent with that of the leveling table hexahedron, and recording the angle value as an azimuth zero position value; when the azimuth axis, the pitching axis and the transverse roller code disc angle are in the zero position angle, the three-dimensional postures of the star-sensitive reference hexahedron, the leveling table hexahedron and the leveling table base hexahedron are consistent.
Further, the attitude measuring instrument is fixed on the rigid base, and the attitude of the attitude measuring instrument relative to the rigid base is ensured to be unchanged in the process of calibration and test; the attitude angle output by the attitude measuring instrument is the attitude of the attitude reference hexahedron.
Furthermore, when the attitude measuring instrument is mounted on the rigid base, the relation between the hexahedron of the platform base and the attitude reference hexahedron is marked out, so that the three directions of the attitude of the hexahedron are consistent; then the attitude angle output by the attitude measuring instrument, namely the attitude angle of the hexahedron of the platform base; the base must have a sufficiently high rigidity to ensure consistent posture between the hexahedron of the platform base and the posture reference hexahedron after installation of the device and during operation.
Furthermore, the attitude measuring instrument works in a movable base environment, such as a ship, a vehicle and the like which are moored or sailed on the water surface, measures the three-dimensional attitude angle of the attitude measuring instrument in real time, and the attitude measuring instrument precision calibrating device based on starlight measurement also works in the movable base environment.
Furthermore, the GPS receiver provides accurate time information of an atomic clock for the star-sensitive attitude measurement device in real time, and the star-sensitive attitude measurement device applies the longitude and latitude of the earth and the accurate time information to the star map matching and attitude resolving process.
Further, the self-leveling servo tracking table is used for feeding back to the control system to reversely adjust the pitching and rolling shafts through the swinging angular displacement of the inertial device sensitive base fixedly connected to the pitching frame of the leveling table, so that the instrument mounting surface on the pitching frame of the leveling table is in a horizontal state, and the swinging motion of the movable base is filtered by the double-head star-sensitive gesture measuring device; in addition, the control system tracks the target astronomical star by controlling the azimuth servo tracking shaft according to the feedback of the star-sensitive attitude measuring device; and the measuring system converts and transmits the gesture of the star-sensitive gesture measuring device according to the angles output by the angle measuring elements on the self-leveling servo tracking table azimuth, pitching and transverse roller systems in real time.
The invention discloses a method for calibrating the precision of an attitude measuring instrument based on starlight measurement, which comprises the following steps of:
finally, calculating the three-dimensional attitude angle (psi) according to the data of the matrix t 、θ t 、γ t )；
and step 6, repeating the steps 1-5, repeatedly sampling each instrument and equipment, and calculating through formulas (1) and (2) to obtain multi-time sampling data and error data so as to calibrate the measurement precision of the attitude measuring instrument.
Further, in step 1, the moving base is a ship.
The invention has the remarkable effects that: the adopted measuring equipment is a starlight measuring device, a lever type self-adjusting platform and an azimuth servo tracking mechanism, the tested equipment is a high-precision attitude measuring system based on a laser inertial measurement unit, and the measuring equipment is in two different attitude measuring modes and does not have a common measuring link. In addition, the star light measuring device can measure the gesture of a certain point on the earth through the gesture of a sensitive astronomical star, the gesture measuring precision is high, and the dynamic performance can meet the requirements, so that the calibration scheme is feasible, and the aim of calibrating a high-precision gesture measuring system can be achieved.
Drawings
FIG. 1 is a schematic diagram of a posture measuring instrument precision calibrating device based on starlight measurement according to the present invention;
FIG. 2 is a schematic diagram of data acquisition of an attitude measurement instrument accuracy calibration method based on starlight measurement according to the present invention;
in the figure: 1. attitude measurement instrument, attitude reference hexahedron, 3, star sensor A, 4, star sensor B, 5, star sensor base, 7, azimuth servo tracking shaft, 8, leveling table hexahedron, 9, leveling table pitching frame, 10, leveling table rolling frame, 11, leveling roller code disc, 12, leveling table base hexahedron, 14, pitching shaft code disc, 15, rigid base, 16, antenna sucker seat, 17, GPS antenna.
Detailed Description
The invention further provides a device and a method for calibrating the precision of an attitude measuring instrument based on starlight measurement, which are described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, an attitude measuring instrument precision calibration device based on starlight measurement comprises a GPS receiver, a double-head star-sensitive attitude measuring device, a self-leveling servo tracking table and a rigid base 15, wherein the calibrated equipment is an attitude measuring instrument 1;
the GPS receiver comprises an antenna sucker seat 16, a GPS antenna 17 and a GPS receiving processing card, wherein the GPS antenna 17 is arranged at the top of the antenna sucker seat 16 through threads, and the GPS receiving processing card is embedded into a processing computer of the double-end star-sensitive gesture measuring device;
the double-head star-sensitive attitude measurement device comprises a star sensor A3, a star sensor B4, a star-sensitive reference hexahedron 5 and a star-sensitive base 6, wherein the star sensor A3, the star sensor B4 and the star-sensitive reference hexahedron 5 are fastened on the star-sensitive base 6 through screws; the gesture output by the double-head star-sensitive gesture detection device is the gesture of the star-sensitive reference hexahedron 5;
the self-leveling servo tracking table comprises an azimuth servo tracking shaft 7, a leveling table hexahedron 8, a leveling table pitching frame 9, a leveling table rolling frame 10, a rolling shaft code disc 11, a leveling table base 12, a leveling table base hexahedron 13 and a pitching shaft code disc 14;
the azimuth servo tracking shaft 7 comprises an azimuth motor and an azimuth code disc, the control system controls the azimuth motor to drive the double-head star-sensitive attitude measuring device at the top of the azimuth servo tracking shaft 7 to rotate relative to the platform pitching frame 9, and the azimuth code disc measures the rotation angle in real time;
the leveling table pitching frame 9 is provided with a leveling table hexahedron 8 on the side surface, so that the normal line of the corresponding surface of the leveling table hexahedron 8 is ensured to be parallel to a pitching axis, and the leveling table hexahedron 8 is fastened through screws;
the leveling platform pitching frame 9 is connected with the leveling platform rolling frame 10 through a pitching shaft system; a motor and a screw rod are arranged at one end, far away from a pitching axis, of the platform pitching frame 9, the control system controls the motor to rotate, and the motor drives the screw rod to rise and fall, so that the platform pitching frame 9 rotates along the pitching axis; one end of the pitching shaft system is provided with a pitching shaft code disc 14 for measuring the rotation angle of the pitching shaft in real time;
the leveling platform transverse rolling frame 10 is connected with the leveling platform base 12 through a transverse rolling shaft system; a motor and a screw rod are arranged at one end, far away from the rolling shaft system, of the leveling table rolling frame 10, the control system controls the motor to rotate, and the motor drives the screw rod to rise and fall, so that the leveling table rolling frame 10 rotates along the rolling shaft system; one end of the transverse rolling shaft system is provided with a transverse rolling shaft code disc 11 for measuring the rotation angle of the transverse rolling shaft in real time; the self-leveling servo tracking table is orthogonal in pitching and rolling axes, and the azimuth axis is orthogonal with the pitching axis;
the side surface of the leveling platform base 12 is provided with a leveling platform base hexahedron 13, so that the normal line of the corresponding surface of the leveling platform base hexahedron 13 is ensured to be parallel to the transverse rolling shaft, and the leveling platform base hexahedron is fastened through screws;
after the self-leveling servo tracking table is assembled, the placing base is adjusted to enable the ground of the leveling table rolling frame 10 to be in a horizontal state, the pitching and rolling shaft systems are adjusted to enable the instrument installation surface at the top of the leveling table pitching frame 9 to be in a horizontal state, the postures of the leveling table hexahedron 8 and the leveling table base hexahedron 13 are calibrated to be consistent, and the angle values of the rolling shaft code disc 11 and the pitching shaft code disc 14 in the horizontal state are recorded and recorded as zero positions.
Further, the double-end star-sensitive gesture detection device is fixed on the top of the azimuth servo tracking shaft 7 of the self-leveling servo tracking table, the bottom of the table base 12 of the self-leveling servo tracking table is fixed on the rigid base 15, and the GPS antenna 17 of the GPS receiver is adsorbed beside the whole device through the antenna sucker base 16 and is not more than 1m away from the double-end star-sensitive gesture detection device.
Further, after the double-head star-sensitive attitude measurement device is installed on a self-leveling servo tracking table, the installation attitudes of the star-sensitive reference hexahedron 5 and the leveling table surface hexahedron 8 are calibrated to be consistent in horizontal two-way; rotating a servo tracking azimuth axis system, and recording an angle value of an azimuth code disc when the azimuth of the star-sensitive reference hexahedron 5 is consistent with that of the leveling table hexahedron 8, and recording the angle value as an azimuth zero position value; when the azimuth axis, the pitching axis and the transverse roller code disc angle are in the zero position angle, the three-dimensional postures of the star-sensitive reference hexahedron 5, the leveling table hexahedron 8 and the leveling table base hexahedron 13 are consistent.
Further, the posture measuring instrument 1 is fixed on the rigid base 15, and the posture of the rigid base 15 is kept unchanged in the process of calibration and test; the attitude angle output by the attitude measuring instrument 1 is the attitude of the attitude reference hexahedron 2.
Further, when the attitude measuring instrument 1 is mounted on the rigid base 15, the relationship between the hexahedron 13 of the adjusting platform base and the attitude reference hexahedron 2 is marked first, so that the three directions of the attitude are consistent; then the attitude angle output by the attitude measuring instrument 1, namely the attitude angle of the hexahedron 13 of the leveling platform base; the base 15 must have a sufficiently high rigidity to ensure a consistent posture between the platform base hexahedron 13 and the posture reference hexahedron 2 after installation of the apparatus and during operation.
Furthermore, the attitude measuring instrument 1 works in a movable base environment, such as a ship moored on the water surface or sailing, a vehicle running and the like, measures the three-dimensional attitude angle of the attitude measuring instrument in real time, and the attitude measuring instrument precision calibrating device based on starlight measurement also works in the movable base environment.
Furthermore, the GPS receiver provides accurate time information of an atomic clock for the star-sensitive attitude measurement device in real time, and the star-sensitive attitude measurement device applies the longitude and latitude of the earth and the accurate time information to the star map matching and attitude resolving process.
Further, the self-leveling servo tracking table is used for feeding back to a control system to reversely adjust the pitching and rolling shafts through the swinging angular displacement of the inertial device sensitive base fixedly connected to the pitching frame 9 of the leveling table, so that an instrument mounting surface on the pitching frame 9 of the leveling table is in a horizontal state, and the swinging motion of the movable base is filtered by the double-head star-sensitive gesture measuring device; in addition, the control system tracks the target astronomical star by controlling the azimuth servo tracking shaft 7 according to the feedback of the star-sensitive attitude measuring device; and the measuring system converts and transmits the gesture of the star-sensitive gesture measuring device according to the angles output by the angle measuring elements on the self-leveling servo tracking table azimuth, pitching and transverse roller systems in real time.
As shown in fig. 2, a method for calibrating accuracy of an attitude measurement instrument based on starlight measurement, using the calibration device of the present invention, comprises the following steps:
finally, calculating the three-dimensional attitude angle (psi) according to the data of the matrix t 、θ t 、γ t )；
and step 6, repeating the steps 1-5, repeatedly sampling each instrument and equipment, and calculating through formulas (1) and (2) to obtain multi-time sampling data and error data so as to calibrate the measurement precision of the attitude measuring instrument 1.
Further, in step 1, the moving base is a ship.
Claims (10)
1. An attitude measuring instrument precision calibrating device based on starlight measurement, which is characterized in that: the device comprises a GPS receiver, a double-head star-sensitive gesture measuring device, a self-leveling servo tracking table and a rigid base (15), wherein the calibrated equipment is a gesture measuring instrument (1);
the GPS receiver comprises an antenna sucker seat (16), a GPS antenna (17) and a GPS receiving processing card, wherein the GPS antenna (17) is arranged at the top of the antenna sucker seat (16) through threads, and the GPS receiving processing card is embedded into a processing computer of the double-head star-sensitive gesture measuring device;
the double-head star-sensitive gesture detection device comprises a star sensor A (3), a star sensor B (4), a star-sensitive reference hexahedron (5) and a star-sensitive base (6), wherein the star sensor A (3), the star sensor B (4) and the star-sensitive reference hexahedron (5) are fastened on the star-sensitive base (6) through screws; the gesture output by the double-head star-sensitive gesture detection device is the gesture of a star-sensitive reference hexahedron (5);
the self-leveling servo tracking table comprises an azimuth servo tracking shaft (7), a leveling table hexahedron (8), a leveling table pitching frame (9), a leveling table rolling frame (10), a rolling shaft code disc (11), a leveling table base (12), a leveling table base hexahedron (13) and a pitching shaft code disc (14);
the azimuth servo tracking shaft (7) comprises an azimuth motor and an azimuth code disc, the control system controls the azimuth motor to drive the double-head star-sensitive attitude measuring device at the top of the azimuth servo tracking shaft (7) to rotate relative to the pitching frame (9) of the adjusting platform, and the azimuth code disc measures the rotation angle in real time;
the leveling table pitching frame (9) is provided with a leveling table hexahedron (8) on the side surface, so that the normal line of the corresponding surface of the leveling table hexahedron (8) is ensured to be parallel to a pitching axis, and the leveling table hexahedron is fastened by screws;
the leveling platform pitching frame (9) is connected with the leveling platform rolling frame (10) through a pitching shaft system; a motor and a screw rod are arranged at one end, far away from a pitching axis, of the platform pitching frame (9), the motor is controlled by the control system to rotate, and the motor drives the screw rod to rise and fall, so that the platform pitching frame (9) rotates along the pitching axis; one end of the pitching shaft system is provided with a pitching shaft code disc (14) for measuring the rotation angle of the pitching shaft in real time;
the leveling table transverse rolling frame (10) is connected with the leveling table base (12) through a transverse rolling shaft system; a motor and a screw rod are arranged at one end, far away from the rolling shaft system, of the leveling platform rolling frame (10), the control system controls the motor to rotate, and the motor drives the screw rod to rise and fall, so that the leveling platform rolling frame (10) moves rotationally along the rolling shaft system; one end of the transverse rolling shaft system is provided with a transverse rolling shaft code disc (11) for measuring the rotation angle of the transverse rolling shaft in real time; the self-leveling servo tracking table is orthogonal in pitching and rolling axes, and the azimuth axis is orthogonal with the pitching axis;
the side surface of the leveling platform base (12) is provided with a leveling platform base hexahedron (13), so that the normal line of the corresponding surface of the leveling platform base hexahedron (13) is ensured to be parallel to the transverse rolling shaft, and the leveling platform base hexahedron is fastened through screws;
after the self-leveling servo tracking table is assembled, the placing base is adjusted to enable the bottom surface of the leveling table transverse rolling frame (10) to be in a horizontal state, the pitching and transverse rolling shaft systems are adjusted to enable the top instrument installation surface of the leveling table pitching frame (9) to be in a horizontal state, the postures of the leveling table hexahedron (8) and the leveling table base hexahedron (13) are calibrated to be consistent, and the angle values of the transverse rolling shaft code disc (11) and the pitching shaft code disc (14) in the state are recorded and recorded as zero positions.
2. The attitude measurement instrument accuracy calibration device based on starlight measurement according to claim 1, wherein: the double-head star-sensitive gesture detection device is fixed at the top of an azimuth servo tracking shaft (7) of a self-leveling servo tracking table, the bottom of a table base (12) of the self-leveling servo tracking table is fixed on a rigid base (15), a GPS antenna (17) of a GPS receiver is adsorbed beside the whole device through an antenna sucker base (16), and the distance from the double-head star-sensitive gesture detection device is not more than 1m.
3. The attitude measurement instrument accuracy calibration device based on starlight measurement according to claim 1, wherein: after the double-head star-sensitive attitude measurement device is installed on a self-leveling servo tracking table, the installation attitudes of the star-sensitive reference hexahedron (5) and the leveling table surface hexahedron (8) are calibrated to be consistent in horizontal two-way; rotating a servo tracking azimuth axis system, and recording an angle value of a azimuth code disc when the azimuth of the star-sensitive reference hexahedron (5) is consistent with the azimuth of the leveling table hexahedron (8), and recording the angle value as an azimuth zero position value; when the azimuth axis, the pitching axis and the transverse roller code disc angle are in the zero position angle, the three-dimensional postures of the star-sensitive reference hexahedron (5), the leveling table hexahedron (8) and the leveling table base hexahedron (13) are consistent.
4. The attitude measurement instrument accuracy calibration device based on starlight measurement according to claim 1, wherein: the attitude measuring instrument (1) is fixed on the rigid base (15), and the attitude of the rigid base (15) is ensured to be unchanged in the process of calibration and test; the posture angle output by the posture measuring instrument (1) is the posture of the posture reference hexahedron (2).
5. The attitude measurement instrument accuracy calibration device based on starlight measurement according to claim 1, wherein: when the attitude measuring instrument (1) is mounted on the rigid base (15), the relation between the hexahedron (13) of the platform base and the attitude reference hexahedron (2) is marked, so that the three directions of the attitude are consistent; then the attitude angle output by the attitude measuring instrument (1), namely the attitude angle of the hexahedron (13) of the leveling table base; the base (15) must have a sufficiently high rigidity to ensure consistent attitude between the platform base hexahedron (13) and the attitude reference hexahedron (2) after installation of the equipment and during operation.
6. The attitude measurement instrument accuracy calibration device based on starlight measurement according to claim 1, wherein: the attitude measuring instrument (1) works in a movable base environment, such as a ship, a vehicle and the like which are moored or sailed on the water surface, measures the three-dimensional attitude angle of the attitude measuring instrument in real time, and the attitude measuring instrument precision calibrating device based on starlight measurement also works in the movable base environment.
7. The attitude measurement instrument accuracy calibration device based on starlight measurement according to claim 1, wherein: the GPS receiver provides accurate time information of an atomic clock for the star-sensitive attitude measurement device in real time, and the star-sensitive attitude measurement device applies the longitude and latitude of the earth and the accurate time information to the star map matching and attitude resolving process.
8. The attitude measurement instrument accuracy calibration device based on starlight measurement according to claim 1, wherein: the self-leveling servo tracking table is used for feeding back to the control system to reversely adjust the pitching and rolling shafts through the swinging angular displacement of the inertial device sensitive base fixedly connected to the pitching frame (9) of the leveling table, so that the instrument mounting surface on the pitching frame (9) of the leveling table is in a horizontal state, and the swinging motion of the movable base is filtered by the double-head star-sensitive gesture measuring device; in addition, the control system tracks the target astronomical star by controlling the azimuth servo tracking shaft (7) according to the feedback of the star-sensitive attitude measuring device; and the measuring system converts and transmits the gesture of the star-sensitive gesture measuring device according to the angles output by the angle measuring elements on the self-leveling servo tracking table azimuth, pitching and transverse roller systems in real time.
9. A method for calibrating the accuracy of an attitude measurement instrument based on starlight measurement, characterized by using the calibration device according to claim 1, comprising the steps of:
step 1, installing the calibrating device and the calibrated equipment on a movable base, and ensuring that the periphery of the device is clear and free of shielding so as to facilitate a GPS antenna (17) to smoothly receive GPS satellite signals;
step 2, after starting up, each single machine equipment starts to work, and at a certain sampling moment, the calibration control computer samples the double-head star-sensitive attitude measurement device to obtain attitude angles of (psi) respectively x 、θ x 、γ x ) Three-dimensional attitude matrix C established under northeast geographic coordinate system x t ；
Step 3, the calibration control computer respectively samples the azimuth axis, the pitching axis and the transverse rolling shaft code wheel on the self-leveling servo tracking table, and calculates the rotation angles of the azimuth, the pitching and the transverse rolling shaft code wheel relative to the zero position to be (delta phi) 1 、Δθ 1 、Δγ 1 ) Form a posture conversion matrix
Step 4, calculating an attitude matrix of the hexahedron (13) of the adjusting platform base according to an attitude conversion algorithm:
finally, calculating the three-dimensional attitude angle (psi) according to the data of the matrix t 、θ t 、γ t )；
Step 5, the attitude angles obtained by sampling the attitude measuring instrument by the calibration control computer are (psi) respectively gz 、θ gz 、γ gz ) Namely, the attitude angle of the attitude reference hexahedron (2); the three-dimensional attitude angles of the hexahedron of the leveling platform base and the attitude reference hexahedron (2) are consistent due to installation, so that the errors of the three attitude angles measured by the attitude measuring instrument are respectively as follows:
and step 6, repeating the steps 1-5, repeatedly sampling each instrument and equipment, and calculating through formulas (1) and (2) to obtain multi-time sampling data and error data so as to calibrate the measurement precision of the attitude measuring instrument (1).
10. The method for calibrating the precision of the attitude measurement instrument based on starlight measurement according to claim 9, wherein the method comprises the following steps: in step 1, the movable base is a ship.
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| CN114166209B (en) * | 2021-10-26 | 2023-08-08 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | High-precision star tracker |
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