CN111412930A - Calibration operation method for installation error of combined attitude measurement device - Google Patents

Calibration operation method for installation error of combined attitude measurement device Download PDF

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CN111412930A
CN111412930A CN202010364362.4A CN202010364362A CN111412930A CN 111412930 A CN111412930 A CN 111412930A CN 202010364362 A CN202010364362 A CN 202010364362A CN 111412930 A CN111412930 A CN 111412930A
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CN111412930B (en
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许春晖
邵珠瑞
孙伟强
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707th Research Institute of CSIC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract

The invention relates to a calibration operation method for installation errors of a combined attitude measurement device, which comprises the following steps: s1, assembling a combined attitude measurement device, wherein the combined attitude measurement device comprises inertia equipment and self-collimating optical three-dimensional measurement equipment, and also relates to a high-precision optical hexahedron which is used as a cooperative target during calibration; s2 obtaining error angle operation data, att1 ═ R of three-dimensional attitude of inertial deviceInertiaPInertiaHInertia]Relative measurement att2 ═ R for a self-collimating optical three-dimensional measuring deviceAuto-collimationPAuto-collimationHAuto-collimation]The three-dimensional posture of the optical hexahedron att3 ═ RHexahedronPHexahedronHHexahedron]S3 carries out coupling operation on att1, att2 and att3 to obtain a three-dimensional attitude installation error angle △ att0 of the combined attitude measurement device formed by the inertial equipment and the self-collimation optical three-dimensional measurement equipment.

Description

Calibration operation method for installation error of combined attitude measurement device
Technical Field
The invention belongs to the technical application field of inertial navigation equipment, relates to a combined attitude measurement device formed by combining inertial equipment and auto-collimation optical three-dimensional measurement equipment, and particularly relates to a calibration operation method for installation errors of the combined attitude measurement device.
Background
The inertial device can carry out autonomous three-dimensional attitude measurement and output three-dimensional attitude information in real time. The inertial equipment is generally placed near a measured target, so that the attitude of the inertial equipment is closer to the same as that of the measured target, but the measured target is often subjected to irregular and undirected deformation or small displacement due to the influence of a test environment and structural stability under different use environments. The accuracy of the inertial equipment for providing three-dimensional attitude information for the measured target is influenced.
The autocollimation optical three-dimensional measuring equipment is an accurate angle measuring equipment using the autocollimation measuring principle, can measure the offset included angle between the plane of a measured target and the main optical axis of light, and measures the relative quantity information of the three-dimensional posture of the measured target by measuring two vertical planes of the measured target.
The inertial equipment and the auto-collimation optical three-dimensional measuring equipment are combined and installed, the two equipment are fixedly connected into a stable whole to form a combined attitude measuring device, so that a stable measuring link is formed among the inertial equipment, the auto-collimation optical three-dimensional measuring equipment and a measured target, and the influence of irregular non-directional deformation or micro displacement of the measured target on the three-dimensional attitude measuring precision can be eliminated. When the combined installation structure is adopted to measure the target to be measured, the three-dimensional attitude installation error angle of the combined attitude measurement device formed by combining the inertial equipment and the auto-collimation optical three-dimensional measurement equipment needs to be obtained in advance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a calibration operation method for the installation error of a combined attitude measurement device, which can accurately acquire the initial three-dimensional attitude installation error angle information of two kinds of equipment through calibration and operation.
The above object of the present invention is achieved by the following technical solutions:
a calibration operation method for installation errors of a combined attitude measurement device is characterized by comprising the following steps:
s1 combined attitude measuring device
The combined attitude measuring device comprises inertial equipment and self-collimating optical three-dimensional measuring equipment, and also relates to a high-precision optical hexahedron which is used as a cooperative target during calibration;
the assembling process comprises the following steps: installing inertial equipment on a base, vertically and fixedly connecting a side-hung connecting plate with the base, installing auto-collimation optical three-dimensional measuring equipment on the side-hung connecting plate above the inertial equipment, and fixedly connecting the two equipment through a mechanical transition piece formed by the base and the side-hung connecting plate to form a rigid whole; arranging a cooperative target high-precision optical hexahedron near two aiming measuring heads of the auto-collimation optical three-dimensional measuring equipment; the inertial equipment is marked with an arrow, the direction of the arrow is the course indication of the combined attitude measurement device, the rolling and pitching directions are in accordance with the right-hand rule, and the three-dimensional attitude coordinate definition directions of the auto-collimation optical three-dimensional measurement equipment and the high-precision optical hexahedron are in accordance with the three-dimensional attitude coordinate of the inertial equipment;
s2 obtaining error angle operation data
S21 reads the three-dimensional attitude att1 ═ R of the inertial deviceInertiaPInertiaHInertia]Wherein R isInertiaIs the roll truth value, P, of the inertial deviceInertiaIs the true value of pitch, H, of the inertial deviceInertiaThe real value of the course of the inertial equipment is obtained;
s22 reading relative measurement value att2 ═ R of auto-collimation optical three-dimensional measurement deviceAuto-collimationPAuto-collimationHAuto-collimation]Wherein R isAuto-collimationFor the relative roll measurement of an auto-collimating optical three-dimensional measuring device, PAuto-collimationFor relative pitch measurements of self-collimating optical three-dimensional measuring devices, HAuto-collimationThe relative measurement value of the course of the self-collimation optical three-dimensional measurement equipment is obtained;
s23, selecting two surfaces which are not blocked and are perpendicular to each other, namely an A surface and a B surface, respectively measuring the A surface and the B surface by using a theodolite, reading a pitch angle value of the theodolite in the vertical disc direction, wherein a measured value of the B surface obtained by measurement is a true value of a roll angle of the optical hexahedron, and a measured value of the A surface obtained by measurement is a true value of a longitudinal roll angle of the optical hexahedron.
S24, the surface B is measured by a high-precision gyrotheodolite, and an included angle between the surface B normal and a north true value is obtained through measurement, so that a course angle true value of the optical hexahedron is obtained. From true value of roll angle, pitchThe angle true value and the course angle true value obtain the three-dimensional posture att3 ═ R of the optical hexahedronHexahedronPHexahedronHHexahedron]Wherein R isHexahedronIs a true value of roll of the hexahedron, PHexahedronIs a true value of pitching of the hexahedron, HHexahedronThe real value of the course of the hexahedron;
s3 carries out coupling operation on att1, att2 and att3 to obtain a three-dimensional attitude installation error angle △ att0 of the combined attitude measurement device formed by combining the inertial equipment and the self-collimating optical three-dimensional measurement equipment, and the specific process is as follows:
s31 obtaining an attitude angle turning attitude matrix of the inertial device, an attitude angle turning attitude matrix of the auto-collimation optical three-dimensional measuring device and an attitude angle turning attitude matrix of the optical hexahedron respectively from the three-dimensional attitude att1 of the inertial device, the relative measurement value att2 of the auto-collimation optical three-dimensional measuring device and the three-dimensional attitude att3 of the optical hexahedron, and respectively referring to formula (1), formula (2) and formula (3):
Figure BDA0002476219750000021
Figure BDA0002476219750000022
Figure BDA0002476219750000023
s32 firstly carries out coupling operation on att1 and att3, see formula (4), then carries out coupling operation on the coupling operation result and att2, see formula (5), and obtains a three-dimensional posture installation error angle △ att0 of the combined posture measuring device according to the coupling operation results of the att1 and the att3, see formula (6):
Figure BDA0002476219750000024
Figure BDA0002476219750000031
Figure BDA0002476219750000032
furthermore, the verticality of the high-precision optical hexahedron is less than 1 arc second, and the parallelism is not more than 2 arc second.
The invention has the advantages and positive effects that:
the calibration operation method for the installation error of the combined attitude measurement device comprises the step of carrying out coupling operation on three-dimensional attitude angle output information of inertial equipment, three-dimensional attitude angle relative quantity information of auto-collimation optical three-dimensional measurement equipment and three-dimensional attitude angle output information of an optical hexahedron combined with a cooperation target with high precision to obtain the three-dimensional attitude installation error angle of the combined attitude measurement device.
Drawings
FIG. 1 is a diagram of a combined attitude determination device assembly model;
FIG. 2 is a schematic view of a calibration sight;
fig. 3 is a flow chart of the coupling operation.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments, which are illustrative, not restrictive, and the scope of the invention is not limited thereto.
FIG. 1 is a diagram of an assembly model of the joint posture measuring device. The inertial equipment 4 is arranged on a base 5 and is fastened and connected through screws; then the side-hung connecting plate 3 is tightly connected with the base through screws; and finally, mounting the auto-collimation optical three-dimensional measuring equipment 2 on a side-hung connecting plate, and fastening and connecting through screws. The two devices are fixedly connected through a mechanical transition piece consisting of a base and a side-hung connecting plate to form a rigid whole. The high-precision optical hexahedron 1 is used as a cooperative target during calibration, and besides the use during calibration, the optical hexahedron is fixedly connected and installed on a measured target during combined posture measurement and forms a fixedly connected whole with the measured target, so that the three-dimensional posture information of the optical hexahedron is measured, namely the optical hexahedron can represent the measured target. The high-precision optical hexahedron is located near two collimation measuring heads of the auto-collimation optical three-dimensional measuring device 2. The inertial equipment is marked with an arrow, the direction of the arrow is the course indication of the combined attitude measurement device, the rolling and pitching directions are in accordance with the right-hand rule, and the three-dimensional attitude coordinate definition directions of the auto-collimation optical three-dimensional measurement equipment and the high-precision optical hexahedron are in accordance with the three-dimensional attitude coordinate of the inertial equipment.
Fig. 2 is a schematic diagram of calibration aiming, wherein A, B, C represents three planes of the high-precision optical hexahedron respectively. The combined attitude determination device is placed on a stable platform. The high-precision optical hexahedron is stably placed above the auto-collimation optical three-dimensional measuring equipment, and the posture of the optical hexahedron is adjusted, so that the optical hexahedron is located in the field of view of two optical sighting heads of the auto-collimation equipment, and the optical hexahedron can be measured.
The verticality of the high-precision optical hexahedron is preferably less than 1 arc second, the parallelism is preferably not more than 2 arc second, and measurement errors introduced by the optical hexahedron in the calibration process can be ignored.
The theodolite is used for respectively aiming the A reflecting plane and the B reflecting plane of the optical hexahedron, the pitch angle value on the theodolite is read, the difference value between the two pitch angle values and 90 degrees is the two-dimensional horizontal state of the C reflecting plane, and the roll true value (R) of the hexahedron can be obtainedHexahedron) True value of pitching (P)Hexahedron). The C reflecting plane is also a measuring plane of the self-collimation optical three-dimensional measuring equipment. Measuring the B reflection plane by using a gyrotheodolite to obtain a true course value (H) of the hexahedronHexahedron)。
Reading the three-dimensional attitude att1 ═ R of the inertial deviceInertiaPInertiaHInertia]。
Reading the auto-collimation device relative measurement att2 ═ RAuto-collimationPAuto-collimationHAuto-collimation]。
Obtaining the three-dimensional attitude of the optical hexahedron through the difference value read by the theodolite and the measured value of the gyrotheodolite
att3＝[RHexahedronPHexahedronHHexahedron]。
By performing coupling operation on att1, att2 and att3, a three-dimensional attitude installation error angle △ att0 of the combined attitude measurement device formed by combining the inertial equipment and the self-collimating optical three-dimensional measurement equipment can be obtained.
After the three-dimensional attitude installation error angle of the combined attitude measurement device is obtained, the three-dimensional attitude angle information of the measured target can be accurately obtained through the three-dimensional attitude installation error angle, the three-dimensional attitude angle output information of the inertial equipment and the three-dimensional attitude angle relative quantity information of the auto-collimation optical three-dimensional measurement equipment.
Although the embodiments and figures of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and figures.

Claims (2)

1. A calibration operation method for installation errors of a combined attitude measurement device is characterized by comprising the following steps:
s1 combined attitude measuring device
The combined attitude measuring device comprises inertial equipment and self-collimating optical three-dimensional measuring equipment, and also relates to a high-precision optical hexahedron which is used as a cooperative target during calibration;
the assembling process comprises the following steps: installing inertial equipment on a base, vertically and fixedly connecting a side-hung connecting plate with the base, installing auto-collimation optical three-dimensional measuring equipment on the side-hung connecting plate above the inertial equipment, and fixedly connecting the two equipment through a mechanical transition piece formed by the base and the side-hung connecting plate to form a rigid whole; arranging a cooperative target high-precision optical hexahedron near two aiming measuring heads of the auto-collimation optical three-dimensional measuring equipment; the inertial equipment is marked with an arrow, the direction of the arrow is the course indication of the combined attitude measurement device, the rolling and pitching directions are in accordance with the right-hand rule, and the three-dimensional attitude coordinate definition directions of the auto-collimation optical three-dimensional measurement equipment and the high-precision optical hexahedron are in accordance with the three-dimensional attitude coordinate of the inertial equipment;
s2 obtaining error angle operation data
S21 reads the three-dimensional attitude att1 ═ R of the inertial deviceInertiaPInertiaHInertia]Wherein R isInertiaIs the roll truth value, P, of the inertial deviceInertiaIs the true value of pitch, H, of the inertial deviceInertiaThe real value of the course of the inertial equipment is obtained;
s22 reading relative measurement value att2 ═ R of auto-collimation optical three-dimensional measurement deviceAuto-collimationPAuto-collimationHAuto-collimation]Wherein R isAuto-collimationFor the relative roll measurement of an auto-collimating optical three-dimensional measuring device, PAuto-collimationFor relative pitch measurements of self-collimating optical three-dimensional measuring devices, HAuto-collimationThe relative measurement value of the course of the self-collimation optical three-dimensional measurement equipment is obtained;
s23, selecting two surfaces which are not blocked and are perpendicular to each other, namely an A surface and a B surface, respectively measuring the A surface and the B surface by using a theodolite, reading a pitch angle value of the theodolite in the vertical disc direction, wherein a measured value of the B surface obtained by measurement is a true value of a roll angle of the optical hexahedron, and a measured value of the A surface obtained by measurement is a true value of a longitudinal roll angle of the optical hexahedron.
S24, the surface B is measured by a high-precision gyrotheodolite, and an included angle between the surface B normal and a north true value is obtained through measurement, so that a course angle true value of the optical hexahedron is obtained. Obtaining three-dimensional posture att3 of the optical hexahedron by a true roll angle value, a true longitudinal roll angle value and a true course angle value [ R [ ]HexahedronPHexahedronHHexahedron]Wherein R isHexahedronIs a true value of roll of the hexahedron, PHexahedronIs a true value of pitching of the hexahedron, HHexahedronThe real value of the course of the hexahedron;
s3 carries out coupling operation on att1, att2 and att3 to obtain a three-dimensional attitude installation error angle △ att0 of the combined attitude measurement device formed by combining the inertial equipment and the self-collimating optical three-dimensional measurement equipment, and the specific process is as follows:
s31 obtaining an attitude angle turning attitude matrix of the inertial device, an attitude angle turning attitude matrix of the auto-collimation optical three-dimensional measuring device and an attitude angle turning attitude matrix of the optical hexahedron respectively from the three-dimensional attitude att1 of the inertial device, the relative measurement value att2 of the auto-collimation optical three-dimensional measuring device and the three-dimensional attitude att3 of the optical hexahedron, and respectively referring to formula (1), formula (2) and formula (3):
Figure FDA0002476219740000021
Figure FDA0002476219740000022
Figure FDA0002476219740000023
s32 firstly carries out coupling operation on att1 and att3, see formula (4), then carries out coupling operation on the coupling operation result and att2, see formula (5), and obtains a three-dimensional posture installation error angle △ att0 of the combined posture measuring device according to the coupling operation results of the att1 and the att3, see formula (6):
Figure FDA0002476219740000024
Figure FDA0002476219740000025
Figure FDA0002476219740000026
2. the method for calibrating and calculating the installation error of the combined attitude measuring device according to claim 1, which is characterized in that: the verticality of the high-precision optical hexahedron is less than 1 second, and the parallelism is not more than 2 seconds.
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