CN117053837A - Method for acquiring scale factors of gyro speed sensor in aviation camera - Google Patents
Method for acquiring scale factors of gyro speed sensor in aviation camera Download PDFInfo
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- CN117053837A CN117053837A CN202311266343.8A CN202311266343A CN117053837A CN 117053837 A CN117053837 A CN 117053837A CN 202311266343 A CN202311266343 A CN 202311266343A CN 117053837 A CN117053837 A CN 117053837A
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- 238000012360 testing method Methods 0.000 claims abstract description 39
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000005070 sampling Methods 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 description 4
- 230000000737 periodic effect Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
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Abstract
The application discloses a method for acquiring a proportion factor of a gyro speed sensor in an aerial camera, which comprises the following steps: locking an inner driving system frame and an outer driving system frame of the aerial camera at different relative positions, controlling the outer driving system frame to rotate in a first setting mode, and acquiring first motion data measured by a gyro speed sensor on an x-axis of the gyro speed sensor in each test process; according to the first motion data, a first scale factor used when the gyro speed measurement sensor measures the rotating speed of the imager around the outer shaft is obtained; controlling the external driving system frame to rotate in a second setting mode, and acquiring third motion data measured on a y axis of the gyro speed measurement sensor in each test process; and according to the third motion data, acquiring a second scale factor used by the gyro speed measurement sensor when measuring the rotating speed of the imager around the inner shaft. The method is simple to operate and does not rely on accurate measurement equipment.
Description
Technical Field
The application relates to the technical field of aviation photoelectric reconnaissance, in particular to a method for acquiring a proportion factor of a gyro speed sensor in an aviation camera.
Background
The aviation camera is used as an airborne image acquisition device and has wide application in the field of aviation investigation and mapping. As shown in fig. 2, the aerial camera generally includes two driving systems (generally, an external driving system disposed on a mounting base and an internal driving system connected to the external driving system) with two extending directions of the rotating shaft being perpendicular to each other and parallel to the mounting surface of the camera, so as to drive the imager to rotate in different directions, thereby completing the searching and tracking of the ground target. In order to make the image acquired by the high-speed rotating imager clearer, the rotating speed data of the imager needs to be acquired in real time, and the imaging and exposure of the imager are compensated according to the data. The device used for acquiring the rotating speed data in the aviation camera is a gyro speed sensor which is connected to the imager and synchronously rotates along with the imager. The gyro speed sensor is internally provided with three coordinate axes of x, y and z (when the gyro speed sensor is installed, the y axis is ensured to be parallel to the rotating shaft of the inner driving system, and when the inner driving system is in a zero position, the x axis is parallel to the rotating shaft of the outer driving system), when the gyro speed sensor rotates, the movement data of the gyro speed sensor can be obtained relative to the three coordinate axes, the movement data can be converted into the rotating shaft of the outer driving system and the rotating shaft of the inner driving system, and the rotation speeds of the gyro speed sensor around the rotating shaft of the outer driving system and the rotating shaft of the inner driving system can be obtained respectively by multiplying the movement data by the internally provided scale factors, namely the rotation speeds of the imager around the rotating shaft of the outer driving system and the rotating shaft of the inner driving system, and imaging of the imager can be compensated according to the synthesized rotation speeds of the two rotation speeds. In practice, the scaling factor may deviate along with the accumulation of the long use time of the aerial camera, so as to cause errors in the rotation speed of the imager measured by the gyro speed sensor, and the image used for presenting is blurred. Therefore, the correction of the scaling factor in the gyroscopic tachometer sensor is required after a period of time. The existing correction modes are generally as follows: the gyro speed sensor is detached from the aviation camera and is arranged on the single-axis machine, the scale factors on all coordinate axes of the gyro speed sensor are obtained through the single-axis machine, namely other data testing devices, and then the scale factors are converted into an outer driving system rotating shaft and an inner driving system rotating shaft. The method has the defects that the operation is complicated, the accurate measurement condition is depended, and when the deviation between the current value and the actual value of the scale factor is large, the scale factor obtained by the method has large error with the actual value. The above problems are all the problems to be solved in the field.
Disclosure of Invention
In view of the above-mentioned drawbacks or shortcomings in the prior art, it is desirable to provide a method for obtaining a scale factor of a gyroscopic tachometer sensor in an aerial camera that is relatively simple to operate and does not rely on accurate measurement conditions.
The specific technical scheme is as follows:
locking an inner driving system frame and an outer driving system frame of an aerial camera at different relative positions, and controlling the outer driving system frame to rotate in a first setting mode to obtain first motion data measured by the gyro speed sensor on an x axis of the gyro speed sensor in each test process, wherein in the first setting mode, the period of a rotating object is a first period value and the amplitude is a first amplitude value;
according to the included angle between the x-axis of the gyro speed measurement sensor and the rotating shaft of the external driving system during each test, converting each piece of first motion data to the rotating shaft of the external driving system to obtain each piece of second motion data;
acquiring each first angle value rotated by the gyro speed sensor relative to the x axis of the gyro speed sensor in each test process according to the second motion data;
according to each first angle value, a first period value and a first amplitude value, a first scale factor used when the gyro speed measurement sensor measures the rotating speed of the imager around the outer shaft is obtained;
controlling the outer driving system frame to rotate in a second setting mode, and acquiring third motion data measured on a y axis of the gyro speed sensor in each test process, wherein in the second setting mode, the period of a rotating object is a second period value and the amplitude is a second amplitude value;
acquiring each second angle value rotated by the gyro speed sensor relative to the y axis of the gyro speed sensor in each test process according to the third motion data;
and according to each second angle value, the second period value and the second amplitude value, obtaining a second scale factor used when the gyro speed measurement sensor measures the rotating speed of the imager around the inner shaft.
As a further limitation of the present application, the external driving system frame is rotated in a first setting manner, specifically: the frame of the external driving system is made to do sinusoidal motion with a period being a first period value and an amplitude being a first amplitude value;
the external driving system frame is controlled to rotate in a second setting mode, specifically: and enabling the outer driving system frame to do sinusoidal motion with a period of a second period value and an amplitude of a second amplitude value.
As a further definition of the present application, before acquiring each first angle value rotated by the gyro speed sensor relative to the x-axis of the gyro speed sensor during each test according to the second motion data, the method further includes: eliminating drift amount for the second motion data;
before each second angle value of the gyro speed sensor rotated relative to the y axis of the gyro speed sensor in each test process is obtained according to the third motion data, the method further comprises: and eliminating the drift amount of the third motion data.
As a further limitation of the present application, each of the first motion data is converted to an external driving system rotating shaft to obtain each of the second motion data according to the following formula:
ω′ xi ＝ω xi /cos(A i ) I=0, 1,2 … … M, where i is the number of tests; a is that i An included angle between the x axis of the gyro speed measurement sensor and a rotating shaft of an external driving system is formed; omega xi For the first motion data; omega' xi Is the second motion data.
As a further limitation of the present application, the removing the drift amount from the second motion data is performed according to the following formula:
，
wherein ω' xi (k) -said second motion data after eliminating the amount of drift;
and eliminating the drift amount of the third motion data according to the following formula:
，
wherein omega yi For the third motion data ω' yi To eliminate said third motion data after the amount of drift.
As a further limitation of the present application, according to the second motion data, each first angle value rotated by the gyro speed sensor relative to the x-axis of the gyro speed sensor during each test is obtained according to the following formula:
，
wherein T is 1 Sampling period for each test in the process of obtaining the first scale factor;
according to the third motion data, obtaining each second angle value rotated by the gyro speed sensor relative to the gyro speed sensor y axis in each test process, and according to the following formula:
，
wherein T is 2 To obtain the sampling period of each test in the process of the second scale factor.
As a further limitation of the present application, the first scale factor used when the gyro speed sensor measures the rotation speed of the imager around the outer shaft is obtained according to each of the first angle value, the first period value and the first amplitude value, and the following formula is adopted:
，
wherein L is xo The method comprises the steps that a first initial scale factor in the x direction in a current gyro speed sensor is obtained;
and according to each second angle value, the second period value and the second amplitude value, acquiring a second scale factor used when the gyro speed measurement sensor measures the rotating speed of the imager around the inner shaft, and according to the following formula:
，
wherein L is yo And (3) a second initial scale factor in the y direction of the current gyroscopic speed sensor.
The application has the beneficial effects that:
in the scheme, first scale factors of an external drive system rotating shaft of the gyro speed sensor are calibrated: the frame of the inner driving system of the aviation camera is respectively fixed at a plurality of angle values, the frame of the outer driving system of the aviation camera is enabled to periodically move according to the appointed angular speed, and the operational angle data of the frame of the outer driving system are collected. Projecting the corresponding gyro sensitive axial angular velocity to the direction of the external driving system frame, then integrating, and determining a first scale factor of the direction according to the amplitude ratio of the integrated value to the external driving system frame angle sensor data after eliminating the drift of the integrated value, thereby realizing the gyro external driving system frame sensitive axial calibration. Then calibrating a second scale factor of the rotating shaft of the internal driving system of the gyro speed sensor: and (3) enabling the inner driving system frame of the aviation camera to perform periodic motion according to the specified angular velocity, and collecting the motion angle sensor data of the inner driving system frame. And integrating the corresponding gyro sensitive axial angle, and determining a second scale factor of the direction according to the amplitude ratio of the integrated value to the data of the internal driving system frame angle sensor after eliminating the drift of the integrated value, so as to realize the online calibration of the gyro internal driving system frame sensitive axial direction. According to the method, the self angle sensor data of the aviation camera is utilized to calibrate the gyro scale factor, so that the scanning imaging definition under the long-term working condition can be effectively improved, and the maintenance period of the aviation camera can be prolonged.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
fig. 1 is a flowchart of steps of a method for obtaining a scale factor of a gyro speed sensor in an aerial camera according to an embodiment of the present application;
FIG. 2 is a schematic view of the internal structure of the aerial camera of FIG. 1;
reference numerals in the drawings: 1, an inner drive system frame; 2, an external drive system frame; 3, a gyro speed sensor; o (O) 2 An external drive system spindle; 4, an imager; o (O) 1 An inner drive system spindle.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Referring to fig. 1 and fig. 2, a method for obtaining a scale factor of a gyro speed sensor in an aerial camera according to the present embodiment includes the following steps:
s1: locking an inner driving system frame 1 and an outer driving system frame 2 of the aerial camera at different relative positions, and controlling the outer driving system frame 1 to rotate in a first setting mode to obtain first motion data measured by the gyro speed sensor 3 on an x axis of the gyro speed sensor in each test process, wherein in the first setting mode, the period of a rotating object is a first period value and the amplitude is a first amplitude value;
s2: according to each test, the gyro speed sensor 3x axis and the external driving system rotating shaft O 2 The included angle between the two is converted into the first motion data to be converted into an external driving system rotating shaft O 2 Obtaining second motion data;
s3: acquiring each first angle value rotated by the gyro speed sensor 3 relative to the gyro speed sensor 3x axis in each test process according to the second motion data;
s4: according to the first angle value, the first period value and the first amplitude value, acquiring a rotation axis O of the gyro speed sensor 3 around the external driving system for measuring the imager 4 2 A first scale factor used;
s5: controlling the outer driving system frame 2 to rotate in a second setting mode, and acquiring third motion data measured on a y axis of the gyro speed sensor 3 in each test process, wherein in the second setting mode, the period of a rotating object is a second period value and the amplitude is a second amplitude value;
s6: acquiring each second angle value rotated by the gyro speed sensor 3 relative to the y axis of the gyro speed sensor 3 in each test process according to the third motion data;
s7: according to each second angle value, a second period value and a second amplitude value, acquiring the rotation axis O of the gyro speed sensor 3 around the internal driving system of the imager 4 1 A second scale factor is used at the rotational speed of (c).
In the scheme, firstly, an external driving system rotating shaft O of a gyro speed measurement sensor 2 Is calibrated by a first scale factor: the frame 1 of the inner driving system of the aviation camera is respectively fixed at a plurality of angle values, the frame 2 of the outer driving system of the aviation camera is enabled to perform periodic motion according to a designated angular speed, and the operational angle data of the frame 2 of the outer driving system are collected. And projecting the corresponding gyro sensitive axial angular velocity to the direction of the external driving system frame 2, then integrating, and determining a first scale factor of the direction according to the amplitude ratio of the integrated value to the data of the angle sensor of the external driving system frame 2 after eliminating the drift of the integrated value, so as to realize the gyro external driving system frame 2 sensitive axial calibration. Then, the rotation shaft O of the internal driving system of the gyro speed measuring sensor 1 Is calibrated by a second scale factor of: the aviation camera internal driving system frame 1 is made to perform periodic motion according to a specified angular velocity, and the operational angle sensor data of the internal driving system frame 1 are collected. Integrating the corresponding gyro sensitive axial angle, eliminating the drift of the integral value, and then combining the integral value with the inner partAnd determining a second scale factor of the direction according to the amplitude ratio of the data of the angle sensor of the driving system frame 1, and realizing the sensitive axial on-line calibration of the driving system frame 1 in the gyroscope. According to the method, the self angle sensor data of the aviation camera is utilized to calibrate the gyro scale factor, so that the scanning imaging definition under the long-term working condition can be effectively improved, and the maintenance period of the aviation camera can be prolonged.
The external driving system frame 2 is controlled to rotate in a first setting mode, specifically: the outer driving system frame 2 is made to do sinusoidal motion with a period of a first period value and an amplitude of a first amplitude value;
the external driving system frame 2 is controlled to rotate in a second setting mode, specifically: the outer drive system frame 2 is made to perform a sinusoidal motion with a period of a second period value and an amplitude of a second amplitude value.
Before acquiring each first angle value rotated by the gyro speed sensor 3 relative to the x axis of the gyro speed sensor 3 in each test process according to the second motion data, the method further includes: eliminating drift amount for the second motion data;
before acquiring each second angle value rotated by the gyro speed sensor 3 relative to the y axis of the gyro speed sensor 3 in each test process according to the third motion data, the method further includes: and eliminating the drift amount of the third motion data.
The first motion data are converted to an external driving system rotating shaft O 2 And obtaining second motion data according to the following formula:
ω′ xi ＝ω xi /cos(A i ) I=0, 1,2 … … M, where i is the number of tests; a is that i For the gyro speed sensor 3x axis and the external driving system rotating shaft O 2 An included angle between the two; omega xi For the first motion data; omega' xi Is the second motion data.
And eliminating the drift amount of the second motion data according to the following formula:
，
wherein ω' xi k is the second motion data after eliminating the drift amount;
and eliminating the drift amount of the third motion data according to the following formula:
，
wherein omega yi For the third motion data ω' yi To eliminate said third motion data after the amount of drift.
According to the second motion data, each first angle value rotated by the gyro speed sensor 3 relative to the gyro speed sensor 3x axis in each test process is obtained according to the following formula:
，
wherein T is 1 Sampling period for each test in the process of obtaining the first scale factor;
according to the third motion data, each second angle value of the gyro speed sensor 3 rotated relative to the y axis of the gyro speed sensor 3 in each test process is obtained according to the following formula:
，
wherein T is 2 To obtain the sampling period of each test in the process of the second scale factor.
The gyro speed sensor 3 is obtained to measure the rotation axis O of the imager 4 around the external driving system according to the first angle value, the first period value and the first amplitude value 2 The first scale factor used is according to the following formula:
，
wherein L is xo A first initial scale factor in the x direction in the current gyro speed sensor 3;
the gyro speed measurement sensor 3 is used for obtaining the rotation axis O of the imager 4 around the internal driving system according to the second angle value, the second period value and the second amplitude value 1 The second scale factor used is according to the following formula:
，
wherein L is yo A second initial scale factor for the y-direction in the current gyroscopic tach sensor 3.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Claims (7)
1. A method for acquiring a proportion factor of a gyro speed sensor in an aviation camera is characterized by comprising the following steps:
locking an inner driving system frame (1) and an outer driving system frame (2) of an aerial camera at different relative positions, and controlling the outer driving system frame (1) to rotate in a first setting mode to obtain first motion data measured on an x axis of the gyro speed sensor (3) in each test process, wherein in the first setting mode, the period of a rotating object is a first period value and the amplitude is a first amplitude value;
according to each test, the X-axis and the external drive of the gyro speed sensor (3)System spindle (O) 2 ) The included angle between the two is converted into the first motion data to be converted into an external driving system rotating shaft (O) 2 ) Obtaining second motion data;
acquiring each first angle value rotated by the gyro speed sensor (3) relative to the x axis of the gyro speed sensor (3) in each test process according to the second motion data;
according to the first angle value, the first period value and the first amplitude value, a gyro speed measurement sensor (3) is obtained to measure the rotation axis (O) of the imager (4) around the external driving system 2 ) A first scale factor used;
controlling the external driving system frame (2) to rotate in a second setting mode, and acquiring third motion data measured on a y axis of the gyro speed measurement sensor (3) in each test process, wherein in the second setting mode, the period of a rotating object is a second period value and the amplitude is a second amplitude value;
acquiring each second angle value rotated by the gyro speed sensor (3) relative to the y axis of the gyro speed sensor (3) in each test process according to the third motion data;
according to each second angle value, a second period value and a second amplitude value, acquiring a rotation axis (O) of the gyro speed measurement sensor (3) around the internal driving system of the imager (4) 1 ) A second scale factor is used at the rotational speed of (c).
2. The method for acquiring the scale factor of the gyro speed sensor in the aerial camera according to claim 1, wherein the external driving system frame (2) is controlled to rotate in a first setting manner, specifically: the outer driving system frame (2) is made to do sinusoidal motion with a period being a first period value and an amplitude being a first amplitude value;
the external driving system frame (2) is controlled to rotate in a second setting mode, specifically: the outer drive system frame (2) is made to perform a sinusoidal motion with a period of a second period value and an amplitude of a second amplitude value.
3. The method for obtaining a scale factor of a gyro speed sensor in an aerial camera according to claim 2, further comprising, before obtaining each first angle value rotated by the gyro speed sensor (3) relative to the x-axis of the gyro speed sensor (3) during each test according to the second motion data: eliminating drift amount for the second motion data;
before acquiring each second angle value rotated by the gyro speed sensor (3) relative to the y axis of the gyro speed sensor (3) in each test process according to the third motion data, the method further comprises: and eliminating the drift amount of the third motion data.
4. A method of obtaining a scale factor of a gyroscopic speed sensor (3) in an aerial camera according to claim 3, in which said scaling of each of said first motion data to an external drive system rotational axis (O 2 ) And obtaining second motion data according to the following formula:
ω′ xi ＝ω xi /cos(A i ) I=0, 1,2 … … M, where i is the number of tests; a is that i For the X-axis of the gyro speed measuring sensor (3) and the rotating shaft (O) of the external driving system 2 ) An included angle between the two; omega xi For the first motion data; omega' xi Is the second motion data.
5. The method for obtaining a scale factor of a gyro speed sensor in an aerial camera according to claim 4, wherein the removing the drift amount from the second motion data is performed according to the following formula:
，
wherein ω' xi (k) -said second motion data after eliminating the amount of drift;
and eliminating the drift amount of the third motion data according to the following formula:
，
wherein omega yi For the third motion data ω' yi To eliminate said third motion data after the amount of drift.
6. The method for obtaining the scaling factor of the gyro speed sensor in the aerial camera according to claim 5, wherein the obtaining each first angle value rotated by the gyro speed sensor (3) relative to the x-axis of the gyro speed sensor (3) during each test according to the second motion data is according to the following formula:
，
wherein T is 1 Sampling period for each test in the process of obtaining the first scale factor;
according to the third motion data, obtaining each second angle value rotated by the gyro speed sensor (3) relative to the y axis of the gyro speed sensor (3) in each test process, and according to the following formula:
，
wherein T is 2 To obtain the sampling period of each test in the process of the second scale factor.
7. The method for obtaining a scale factor of a gyro speed sensor in an aerial camera according to claim 6, wherein the gyro speed sensor (3) is configured to obtain a measurement image of the imager (4) about an external driving system rotation axis (O) based on each of the first angle values, the first period value and the first amplitude value 2 ) The first scale factor used is according to the following formula:
，
wherein L is xo A first initial scale factor in the x direction in the current gyro speed sensor (3);
according to the second angle value, the second period value and the second amplitude value, a gyro speed measurement sensor (3) is obtained to measure the rotation axis (O) of the imager (4) around the internal driving system 1 ) The second scale factor used is according to the following formula:
，
wherein L is yo And (3) a second initial scale factor in the y direction of the current gyro speed sensor (3).
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