CN112212888A - Strapdown inertial measurement unit prism calibration device and method based on double-shaft rotary table - Google Patents
Strapdown inertial measurement unit prism calibration device and method based on double-shaft rotary table Download PDFInfo
- Publication number
- CN112212888A CN112212888A CN202010887184.3A CN202010887184A CN112212888A CN 112212888 A CN112212888 A CN 112212888A CN 202010887184 A CN202010887184 A CN 202010887184A CN 112212888 A CN112212888 A CN 112212888A
- Authority
- CN
- China
- Prior art keywords
- reference plane
- plane mirror
- transition plate
- double
- standard body
- 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
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
- Mounting And Adjusting Of Optical Elements (AREA)
Abstract
A strapdown inertial measurement unit prism calibration device and method based on a double-shaft rotary table belong to the technical field of inertial device testing. The invention replaces the external calibration with the self-calibration, and replaces the external theodolite with the photoelectric autocollimator of the inertial measurement unit automatic calibration equipment for detection. The detection of the flat mirrors and the resulting results can be done automatically using the program settings completely without human intervention. The detection time can be greatly shortened, and the requirement on the test space is reduced.
Description
Technical Field
The invention relates to a strapdown inertial measurement unit prism calibration device and method based on a double-shaft rotary table, and belongs to the technical field of inertial device testing.
Background
The automatic equipment used for calibrating the strapdown inertial measurement unit is a double-shaft position rate rotary table, and the full automation of the inertial measurement unit calibration process is realized. However, the inertial measurement unit automatic calibration equipment also needs to carry out detection, wherein the detection comprises verification of installation errors of the reference plane mirror. The reference plane mirror calibration device is generated in order to meet the calibration requirement of a reference plane mirror, and the accuracy of the strapdown inertial measurement unit calibration is ensured by measuring the installation error of the reference plane mirror.
The theodolite is used for calibrating the reference plane mirror in the prior art, and the theodolite is suitable for calibrating prisms in various states, but the method has high requirements on the level of specialization of operators, the testing method has low automation degree, wastes time and labor, the cost of equipment is high, errors caused manually are large, and the testing process has certain limitations.
Disclosure of Invention
The technical problem solved by the invention is as follows: the device and the method overcome the defects of the prior art, and realize the installation error test of the reference plane mirror by means of equipment such as a photoelectric autocollimator of an automatic prism calibration device. The test time is saved, manual installation errors are not introduced, and the use is convenient.
The technical solution of the invention is as follows: a strapdown inertial measurement unit prism calibration device based on a double-shaft rotary table comprises the double-shaft rotary table, a reference plane mirror standard body, a data processing system and a photoelectric autocollimator;
the reference plane mirror is arranged on an upright column at the right end of a base of the double-shaft turntable and is used as a calibration reference of an inertial measurement unit prism of the double-shaft turntable;
the standard body of the reference plane mirror is fixedly arranged on a load mounting surface of an inner frame of the double-shaft turntable;
the data processing system is used for controlling the double-shaft turntable to rotate to a specified position, collecting output data of the photoelectric autocollimator, identifying a characteristic target and calculating position information of a reference reflecting surface; calculating the test flow data, and resolving each installation error; and the functions of data storage, report generation and printing are realized. And completing corresponding error correction;
the photoelectric autocollimator is arranged right opposite to the double-shaft rotary table, is arranged on a fixed support on one side of the double-shaft rotary table and is used for measuring and outputting the installation error of the reference plane mirror.
Further, the standard body of the reference plane mirror comprises a standard body and a mounting seat; the standard body comprises two plane mirrors and a base; the two plane mirrors are arranged on the base, the reflecting surfaces of the two plane mirrors are parallel to each other, and the standard body of the reference plane mirror is fixedly connected with the load mounting surface of the inner frame of the double-shaft rotary table through the mounting base when in use.
Furthermore, two reference plane mirrors are provided, and the two reference plane mirrors are measured by matching different measurement adaptive components respectively; the measurement adapting assembly comprises a transition plate and a transition plate bracket; the transition plate support comprises two rectangular plates and a triangular plate, two right-angle edges of the triangular plate are respectively vertically arranged on the two rectangular plates, and the two rectangular plates are vertically arranged with each other; the two rectangular plates are provided with mounting holes for fixed connection; the transition plate is of a flat plate structure, and a through hole matched with the transition plate is formed in the middle of the transition plate.
Further, the number of the transition plate brackets is two; one rectangular plate of the first transition plate bracket is arranged in the middle of the two rectangular plates; one rectangular plate of the second transition plate bracket is arranged at the bottom position of the two rectangular plates.
Further, according to the strapdown inertial measurement unit prism calibration device based on the double-shaft turntable, the method for calibrating the strapdown inertial measurement unit prism based on the double-shaft turntable comprises the following steps:
assembling a standard body of the reference plane mirror; erecting a photoelectric autocollimator on a stable foundation outside a double-shaft rotary table, installing a standard body of a reference plane mirror on a load installation surface of the double-shaft rotary table, installing the photoelectric autocollimator by using four sets of M10 hexagon socket screw assemblies and a wrench, and opening a lens cover;
starting the photoelectric autocollimator, observing an eyepiece of the photoelectric autocollimator, adjusting visual definition according to the return image of the reference plane mirror and rotating the photoelectric autocollimator to enable the visual reticle to coincide with the return image of the reference plane mirror;
the double-shaft turntable drives the standard body of the reference plane mirror to rotate 180 degrees in sequence, so that the photoelectric autocollimator is respectively aligned with the two reference plane mirrors at the positions of 0 degree and 180 degrees, and when the photoelectric autocollimator is aligned with the upper plane mirror of the standard body of the reference plane mirror, the reading A of the photoelectric autocollimator is recordedOn the upper partRecording the reading A of the photoelectric autocollimator when the photoelectric autocollimator is aligned with the lower plane mirror of the standard body of the reference plane mirrorLower part(ii) a Taking the mean value of the azimuth angles of the two reference plane mirrors relative to the photoelectric autocollimator as the reference azimuth of the corresponding shafting, namely, a zero calibration value;
removing the standard body of the reference plane mirror, aligning the photoelectric collimator with the corresponding measured reference plane mirror, and measuring the azimuth indication value of the photoelectric collimator as the measured value of the measured reference plane mirror;
and the data processing system completes data calculation, transmission and printing according to the measured values and the readings of the zero correction values, and completes corresponding error correction.
Further, the mounting error is
Where A is the measured value for the stage reference plane mirror and j is 1 or 2.
Further, the assembling of the reference plane mirror standard body comprises a first reference plane mirror standard body assembling and a second reference plane mirror standard body assembling;
the first reference plane mirror standard body assembly comprises the following steps:
mounting a first transition plate bracket on a base, fastening the first transition plate bracket by using 6M 5X 15 socket head cap screws, mounting the first transition plate below the transition plate bracket, and fastening the first transition plate by using 6M 6X 20 socket head cap screws;
the second reference plane mirror standard body assembly comprises the following steps:
and mounting the second transition plate bracket on the base, fastening the second transition plate bracket by using 6M 5X 15 socket head cap screws, and then mounting the second transition plate below the transition plate bracket and fastening the second transition plate by using 6M 6X 20 socket head cap screws.
Compared with the prior art, the invention has the advantages that:
(1) the invention measures the plane mirror of the measured reference plane mirror by using the photoelectric autocollimator matched with the measured equipment, and has the advantages of low cost, no need of special personnel and simple use;
(2) according to the invention, the reference mirror standard body is specially designed, the base of the reference mirror standard body is made of granite, the plane mirror is made of high-quality alloy steel, and good stability is ensured from the perspective of a mechanical structure;
(3) the invention realizes the automatic moving of the turntable and the automatic data acquisition and processing through the data processing system, displays the test result and provides the test report. The automatic testing device has the advantages that the automation degree is high, manual intervention is not needed, and besides simple manual operations such as cable connection and tool assembly and disassembly, the technical effect of full-automatic testing of calibration items is achieved.
Drawings
FIG. 1 is a schematic diagram of the components of a reference plane mirror calibration apparatus according to the present invention;
FIG. 2 is a first transition plate support of the reference plane mirror calibration apparatus according to the present invention;
FIG. 3 is a first transition plate of the reference plane mirror calibration apparatus according to the present invention;
figure 4 shows a first reference flat mirror standard assembly of the reference flat mirror calibration arrangement according to the present invention;
FIG. 5 is a second transition plate support of the reference plane mirror calibration apparatus according to the present invention;
FIG. 6 is a second transition plate of the reference plane mirror calibration apparatus according to the present invention;
figure 7 shows a second reference plane mirror standard assembly of the reference plane mirror calibration arrangement according to the present invention;
fig. 8 is a schematic diagram of the angle measurement of the autocollimator of the present invention.
Detailed Description
In order to better understand the technical solutions, the technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.
The following describes in further detail a device and a method for calibrating a strapdown inertial measurement unit prism based on a dual-axis turntable according to an embodiment of the present application with reference to the accompanying drawings, and specific implementations may include (as shown in fig. 1):
in the scheme provided by the embodiment of the application, the invention comprises a reference plane mirror standard body 3, a photoelectric autocollimator 5, an autocollimator bracket and a data processing system 4.
In a possible implementation, the reference flat mirror standard body 3 consists of a standard body consisting of a flat mirror and a base, and a mounting base. The plane mirror is made of high-quality alloy steel and has good dimensional stability after heat treatment and superfinishing; the base is made of granite and is a verification standard of the installation error of the reference plane mirror 2; after the plane mirrors are installed on the base, the reflecting surfaces of the two plane mirrors are strictly adjusted to be parallel, and the standard body 3 of the reference plane mirror is fixedly connected with a rotary table load installation surface through an installation seat in use, as shown in figure 1.
Further, the reference plane mirror standard body 3 is composed of a granite standard body and transition plates, and the measurement of the two reference plane mirrors 2 is adapted by respectively installing the first transition plate and the second transition plate. When the first reference plane mirror standard body 3 is measured, a first transition plate and a support are required to be installed. The first transition plate and the bracket are shown in fig. 2 and 3, respectively. And a second transition plate and a support are required to be installed when the second reference plane mirror standard body 3 is measured. The second transition plate and the bracket are shown in fig. 5 and 6, respectively.
In one possible implementation, the first reference flat mirror standard 3 is assembled. Firstly, a first transition plate bracket is arranged on a plane mirror granite assembly and is fastened by 6M 5 multiplied by 15 cylindrical head socket head cap screws, and then the first transition plate is arranged below the transition plate bracket and is fastened by 6M 6 multiplied by 20 cylindrical head socket head cap screws. The assembly process is shown in figure 4.
Further, in a possible implementation, the second reference flat mirror standard 3 is assembled. Firstly, a second transition plate bracket is arranged on a plane mirror granite assembly and is fastened by 6M 5 multiplied by 15 cylindrical head socket head cap screws, and then the second transition plate is arranged below the transition plate bracket and is fastened by 6M 6 multiplied by 20 cylindrical head socket head cap screws. The assembly process is shown in figure 7.
In the scheme provided by the embodiment of the application, the photoelectric autocollimator 5 is used for measuring the installation error of the reference plane mirror 2 and is a core measuring element of the system; the autocollimator is also provided with a mounting seat which is provided with a locking ring, an angle adjusting mechanism, a locking mechanism and the like and is used for mounting the autocollimator and adjusting the direction of a measuring optical axis of the autocollimator. The support is used for supporting a host and a mounting seat of the autocollimator and has the functions of adjusting height and locking. The photoelectric autocollimator measures the tiny rotation of the measured reflector in a small angle range by using an autocollimation method, the angle measurement schematic diagram of the autocollimator is shown in fig. 8, a reticle of the autocollimator is arranged at a position away from an objective lens by a focal length f, light emitted by a light source is emitted from a central point o through the objective lens, reflected by a reflector by a deflection angle of 2A, imaged at a point o 'of the reticle, and the displacement x is oo'. The geometric optical principle shows that 2A is arctan (x/f), and the deflection angle a of the mirror on the measured target in the specified direction can be obtained by measuring the displacement x under the condition of the known focal length f.
In the solution provided in the embodiment of the present application, the hardware part in the data processing system 4 is composed of a computer. The automatic acquisition and processing of test data are realized through a computer, and the automatic control of the rotary table is realized in the metrological verification process. Data can be transmitted through various interfaces such as a serial port and a network port. The main functions of the data processing system 4 include: recording the data output by the photoelectric autocollimator 5; calculating the position information of the reference reflecting surface; and the functions of data storage, report generation and printing are realized.
Further, in a possible implementation, the reference plane mirror 2 is corrected for mounting errors. . The data processing system can correct the test reference on the double-shaft turntable, and the corrected data is input into the tested tester for storage and is automatically compensated during calculation and transmission. According to the measured and zero-corrected readings, the data processing system 4 automatically completes the data calculation, transmission and printing. And completing corresponding error correction.
Further, based on the same inventive concept as that in fig. 1, the present application further provides a strapdown inertial measurement unit prism calibration based on a dual-axis turntable, including the following steps:
(1) and (5) preparing and installing. The photoelectric autocollimator 5 is erected on a stable foundation outside a rotary table, the reference plane mirror standard body 3 is installed on an inner frame of the rotary table, a main machine, cables and the like of a tester are installed by using 4 sets of M10 inner hexagonal screw assemblies, a wrench and other tools, and then a lens cover is opened. After the tester is determined to be started up, the tester can judge whether to emit collimated light beams or not, an operator observes the ocular of the host, adjusts the visual definition according to the return image (a bright vertical line) of the reference plane mirror 2, rotates the host to enable the visual reticle (a dark vertical line) to be roughly overlapped with the return image of the reference plane mirror 2, and then fixes the host.
(2) And (6) zero calibration and measurement. The corresponding measurement module of the data processing system 4 is selected. The turntable drives the reference plane mirror standard body 3 to rotate 180 degrees in sequence, the photoelectric autocollimator 5 respectively aligns two plane mirrors at the positions of 0 degree and 180 degrees, the photoelectric autocollimator 5 aligns the upper plane mirror of the reference plane mirror standard body 3, and the reading A of the photoelectric autocollimator 5 is recordedOn the upper part. The photoelectric autocollimator 5 aligns with the lower plane mirror of the standard plane mirror body 3, and records the reading A of the photoelectric autocollimator 5Lower part. And taking the mean value of the azimuth angles of the two plane mirrors relative to the autocollimator as the reference azimuth of the corresponding axis. And (3) removing the reference plane mirror standard body 3, aligning the photoelectric collimator with the corresponding measured reference plane mirror 2, and determining the difference value between the azimuth indication value of the collimator and the reference azimuth of the shafting as the installation error of the reference plane mirror 2.
(3) And (6) calculating and correcting. According to the measured and zero-corrected readings, the data processing system 4 automatically completes the data calculation, transmission and printing. And (5) operating the correction software of the reference plane mirror 2 to finish corresponding error correction.
The working principle of the invention is as follows: the reference plane mirror standard body 3 is arranged on an inner frame of a double-shaft rotary table 1, the reference plane mirror standard body 3 is provided with two plane mirrors, the inner frame of the double-shaft rotary table 1 rotates 180 degrees, so that a photoelectric autocollimator 5 is respectively aligned to the two plane mirrors at the positions of 0 degree and 180 degrees, and the mean value of the azimuth angles of the two plane mirrors relative to the autocollimator is used as the reference azimuth of a corresponding shafting. And then the reference plane mirror standard body 3 is removed, the photoelectric autocollimator 5 is aligned to the zero reference of the measured reference plane mirror 2 during the test, and the difference value between the azimuth indication value of the collimator and the reference azimuth of the shafting is the installation error of the reference plane mirror 2. The data are defined as follows:
α 1: the azimuth installation error of the first reference plane mirror 2 on the installation base of the outer frame of the turntable (the installation error of the first reference of the turntable in the alpha value direction of the aiming prism);
α 2: the azimuth installation error of the second reference plane mirror 2 on the middle frame of the rotary table (the installation error of the second rotary table reference in the alpha value direction of the aiming prism);
a: a measured value of the rotating table reference flat mirror 2;
Aon the upper part: measuring the value of the reference plane mirror 2 on the reference plane mirror standard body 3;
Alower part: measuring the value of the reference plane mirror 2 under the reference plane mirror standard body 3;
αJ: azimuth installation error of rotary table reference plane mirror 2
(J＝1,2)
Polarity of data
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (7)
1. The utility model provides a strapdown is used to organize prism calibrating device based on biax revolving stage which characterized in that: the device comprises a double-shaft turntable (1), a reference plane mirror (2), a reference plane mirror standard body (3), a data processing system (4) and a photoelectric autocollimator (5);
the reference plane mirror (2) is arranged on an upright post at the right end of a machine base of the double-shaft rotary table (1) and is used as a calibration reference of an inertial group prism of the double-shaft rotary table (1);
the standard body (3) of the reference plane mirror is fixedly arranged on a load mounting surface of an inner frame of the double-shaft turntable (1);
the data processing system (4) is used for controlling the double-shaft rotary table (1) to rotate to a specified position, collecting output data of the photoelectric autocollimator (5), identifying a characteristic target and calculating position information of a reference reflecting surface; calculating the test flow data, and resolving each installation error; and the functions of data storage, report generation and printing are realized. And completing corresponding error correction;
the photoelectric autocollimator (5) is arranged right opposite to the double-shaft rotary table (1), is arranged on a fixed support on one side of the double-shaft rotary table (1), and is used for measuring and outputting the installation error of the reference plane mirror (2).
2. The device and the method for calibrating the strapdown inertial navigation unit prism based on the dual-axis turntable according to claim 1, wherein: the standard body (3) of the reference plane mirror comprises a standard body and a mounting seat; the standard body comprises two plane mirrors and a base; the two plane mirrors are arranged on the base, the reflecting surfaces of the two plane mirrors are parallel to each other, and the standard body (3) of the reference plane mirror is fixedly connected with the inner frame load mounting surface of the double-shaft rotary table (1) through the mounting base in use.
3. The device and the method for calibrating the strapdown inertial navigation unit prism based on the dual-axis turntable according to claim 2, wherein: the two reference plane mirrors (2) are matched through different measurement adaptive components to realize the measurement of the two reference plane mirrors (2); the measurement adapting assembly comprises a transition plate and a transition plate bracket; the transition plate support comprises two rectangular plates and a triangular plate, two right-angle edges of the triangular plate are respectively vertically arranged on the two rectangular plates, and the two rectangular plates are vertically arranged with each other; the two rectangular plates are provided with mounting holes for fixed connection; the transition plate is of a flat plate structure, and a through hole matched with the transition plate is formed in the middle of the transition plate.
4. The device and the method for calibrating the strapdown inertial navigation unit prism based on the dual-axis turntable according to claim 3, wherein: the number of the transition plate brackets is two; one rectangular plate of the first transition plate bracket is arranged in the middle of the two rectangular plates; one rectangular plate of the second transition plate bracket is arranged at the bottom position of the two rectangular plates.
5. The method for calibrating the strapdown inertial navigation unit prism based on the dual-axis turntable, which is realized by the strapdown inertial navigation unit prism calibration device based on the dual-axis turntable according to claim 1, is characterized by comprising the following steps:
assembling a standard body (3) of the reference plane mirror; erecting a photoelectric autocollimator (5) on a stable foundation outside a double-shaft turntable (1), installing a reference plane mirror standard body (3) on a load installation surface of the double-shaft turntable (1), installing the photoelectric autocollimator (5) by using four sets of M10 hexagon socket screw assemblies and a wrench, and opening a lens cover;
starting the photoelectric autocollimator (5), observing an eyepiece of the photoelectric autocollimator (5), adjusting visual definition according to a return image of the reference plane mirror (2), and rotating the photoelectric autocollimator (5) to enable a visual reticle to be superposed with the return image of the reference plane mirror (2);
the double-shaft turntable (1) drives the reference plane mirror standard body (3) to rotate 180 degrees in sequence, so that the photoelectric autocollimator (5) is respectively aligned with two reference plane mirrors (2) at the positions of 0 degree and 180 degrees, and the reading A of the photoelectric autocollimator (5) is recorded when the photoelectric autocollimator (5) is aligned with the upper plane mirror of the reference plane mirror standard body (3)On the upper partThe photoelectric autocollimator (5) is aligned with the lower plane mirror of the standard body (3) of the reference plane mirrorTime recording photoelectric autocollimator (5) reading ALower part(ii) a The mean value of the azimuth angles of the two reference plane mirrors (2) relative to the photoelectric autocollimator (5) is used as the reference azimuth of the corresponding axis system, namely a zero calibration value;
removing the standard body (3) of the reference plane mirror, aligning the photoelectric collimator (5) with the corresponding reference plane mirror (2) to be measured, and measuring the azimuth indication value of the photoelectric collimator (5) as the measurement value of the reference plane mirror (2) to be measured;
and the data processing system (4) completes data calculation, transmission and printing according to the measured values and the readings of the calibration values, and completes corresponding error correction.
6. The method for calibrating the strapdown inertial navigation unit prism based on the dual-axis turntable of claim 5, wherein: the installation error is
Wherein A is a measured value of the rotary table reference plane mirror (2), and j is 1 or 2.
7. A method of calibrating a dual-axis-turret-based strapdown inertial navigation prism of claim 5, wherein said assembling a reference flat mirror standard (3) comprises a first reference flat mirror standard assembly and a second reference flat mirror standard assembly;
the first reference plane mirror standard body assembly comprises the following steps:
mounting a first transition plate bracket on a base, fastening the first transition plate bracket by using 6M 5X 15 socket head cap screws, mounting the first transition plate below the transition plate bracket, and fastening the first transition plate by using 6M 6X 20 socket head cap screws;
the second reference plane mirror standard body assembly comprises the following steps:
and mounting the second transition plate bracket on the base, fastening the second transition plate bracket by using 6M 5X 15 socket head cap screws, and then mounting the second transition plate below the transition plate bracket and fastening the second transition plate by using 6M 6X 20 socket head cap screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010887184.3A CN112212888B (en) | 2020-08-28 | 2020-08-28 | Strapdown inertial measurement unit reference plane mirror calibration device and method based on double-shaft turntable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010887184.3A CN112212888B (en) | 2020-08-28 | 2020-08-28 | Strapdown inertial measurement unit reference plane mirror calibration device and method based on double-shaft turntable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112212888A true CN112212888A (en) | 2021-01-12 |
| CN112212888B CN112212888B (en) | 2023-05-12 |
Family
ID=74059209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010887184.3A Active CN112212888B (en) | 2020-08-28 | 2020-08-28 | Strapdown inertial measurement unit reference plane mirror calibration device and method based on double-shaft turntable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112212888B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116429375A (en) * | 2023-03-29 | 2023-07-14 | 知一航宇(北京)科技有限公司 | Photoelectric axis pointing consistency calibration method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101082497A (en) * | 2007-07-13 | 2007-12-05 | 北京航空航天大学 | Heavenly body sensor measuring basis transform method and apparatus thereof |
| US20080114560A1 (en) * | 2004-09-24 | 2008-05-15 | Matthew Jonas | Method and System for Adjusting a Position of an Object |
| CN102095416A (en) * | 2010-11-23 | 2011-06-15 | 北京理工大学 | Method for guiding north for equipment to be tested by using turntable capable of guiding north |
| CN204027529U (en) * | 2014-07-07 | 2014-12-17 | 中国电子科技集团公司第五十三研究所 | Based on the biaxial stabilization turntable error of perpendicularity pick-up unit of autocollimator |
| CN106705991A (en) * | 2015-08-07 | 2017-05-24 | 北京航天计量测试技术研究所 | Testing apparatus for installation errors of sighting prism of strapdown inertial measurement unit |
| CN107339568A (en) * | 2017-05-25 | 2017-11-10 | 北京新立机械有限责任公司 | A kind of vertical high precision turntable and its method for adjusting perpendicularity |
| CN109470277A (en) * | 2018-12-26 | 2019-03-15 | 湖南航天机电设备与特种材料研究所 | The measuring method and system of non-normal angle measuring device calibration coefficient |
| CN109470265A (en) * | 2018-10-31 | 2019-03-15 | 湖北航天技术研究院总体设计所 | A kind of inertial navigation prism height difference Calibration Method and system |
| CN109631870A (en) * | 2019-01-31 | 2019-04-16 | 中国人民解放军国防科技大学 | Satellite-borne optical gyro component attitude leading-out method based on optical auto-collimation |
| CN110940354A (en) * | 2019-12-02 | 2020-03-31 | 湖北航天技术研究院总体设计所 | Calibration method for strapdown inertial navigation installation attitude of photoelectric tracking system |
-
2020
- 2020-08-28 CN CN202010887184.3A patent/CN112212888B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080114560A1 (en) * | 2004-09-24 | 2008-05-15 | Matthew Jonas | Method and System for Adjusting a Position of an Object |
| CN101082497A (en) * | 2007-07-13 | 2007-12-05 | 北京航空航天大学 | Heavenly body sensor measuring basis transform method and apparatus thereof |
| CN102095416A (en) * | 2010-11-23 | 2011-06-15 | 北京理工大学 | Method for guiding north for equipment to be tested by using turntable capable of guiding north |
| CN204027529U (en) * | 2014-07-07 | 2014-12-17 | 中国电子科技集团公司第五十三研究所 | Based on the biaxial stabilization turntable error of perpendicularity pick-up unit of autocollimator |
| CN106705991A (en) * | 2015-08-07 | 2017-05-24 | 北京航天计量测试技术研究所 | Testing apparatus for installation errors of sighting prism of strapdown inertial measurement unit |
| CN107339568A (en) * | 2017-05-25 | 2017-11-10 | 北京新立机械有限责任公司 | A kind of vertical high precision turntable and its method for adjusting perpendicularity |
| CN109470265A (en) * | 2018-10-31 | 2019-03-15 | 湖北航天技术研究院总体设计所 | A kind of inertial navigation prism height difference Calibration Method and system |
| CN109470277A (en) * | 2018-12-26 | 2019-03-15 | 湖南航天机电设备与特种材料研究所 | The measuring method and system of non-normal angle measuring device calibration coefficient |
| CN109631870A (en) * | 2019-01-31 | 2019-04-16 | 中国人民解放军国防科技大学 | Satellite-borne optical gyro component attitude leading-out method based on optical auto-collimation |
| CN110940354A (en) * | 2019-12-02 | 2020-03-31 | 湖北航天技术研究院总体设计所 | Calibration method for strapdown inertial navigation installation attitude of photoelectric tracking system |
Non-Patent Citations (1)
| Title |
|---|
| 仲岩: "一种高精度捷联惯组方位引出方法", 《中国惯性技术学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116429375A (en) * | 2023-03-29 | 2023-07-14 | 知一航宇(北京)科技有限公司 | Photoelectric axis pointing consistency calibration method |
| CN116429375B (en) * | 2023-03-29 | 2024-03-12 | 知一航宇(北京)科技有限公司 | Photoelectric axis pointing consistency calibration method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112212888B (en) | 2023-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100561275C (en) | Camera lens module assembling and testing device and assembling test method | |
| CN105547657B (en) | A kind of optical lens divided beams parallelism detecting device and its detection method | |
| CN1829899A (en) | Method for checking or calibrating the angle-dependent alignment of a high-precision test piece | |
| CN111854645B (en) | Device and method for detecting installation eccentricity error of photoelectric encoder | |
| CN101261119B (en) | Light beam parallelism and collimating fault checking method | |
| CN111665023B (en) | Telescope distortion measuring device and method | |
| CN112212888A (en) | Strapdown inertial measurement unit prism calibration device and method based on double-shaft rotary table | |
| CN2645040Y (en) | Portable transit detection apparatus | |
| CN215373881U (en) | Porous axiality check out test set | |
| CN114543837A (en) | Calibration device for multiple meters | |
| CN2237223Y (en) | Detector for detecting spirit level | |
| CN213688244U (en) | Rotation shafting inclination angle detection device | |
| CN115326107A (en) | Scanning reflector mirror surface normal error digital calibration method | |
| SE524366C2 (en) | Method and apparatus for aligning components | |
| CN202533067U (en) | Angular instrument | |
| SU763682A1 (en) | Device for calibrating geodetical instruments | |
| CN218097590U (en) | Optical components and parts multidimension degree space calibrating device | |
| CN117590361B (en) | Optical axis center testing method | |
| CN112629443A (en) | Device and method for detecting inclination angle of rotating shaft system | |
| RU2093794C1 (en) | Gear testing geodetic level | |
| CN111854803B (en) | Star sensor thermal stability detection device and detection method thereof | |
| RU220856U1 (en) | TRANSPORTABLE COMPARATOR FOR CHECKING LEVELINGS | |
| CN103175546A (en) | Automatic detection device for vertical angle of angle measurement orientation equipment | |
| CN114397762B (en) | Method for debugging main optical axis of optical system | |
| CN215678884U (en) | Optical lens optical axis correcting device |
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 |