CN205808427U - The optical calibrating device of the dynamic navigation performance of IMU - Google Patents
The optical calibrating device of the dynamic navigation performance of IMU Download PDFInfo
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- CN205808427U CN205808427U CN201620617131.9U CN201620617131U CN205808427U CN 205808427 U CN205808427 U CN 205808427U CN 201620617131 U CN201620617131 U CN 201620617131U CN 205808427 U CN205808427 U CN 205808427U
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- imu
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- displacement sensor
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- angle
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Abstract
The utility model discloses the optical calibrating device of the dynamic navigation performance of a kind of IMU.Single laser displacement sensor is utilized to measure displacement, two laser displacement sensors measure angle, measurement IMU is under vibration table provides the external environment condition of dynamic navigation performance test in real time, displacement and the angle of measuring IMU in real time of three dimensions.The IMU dynamic navigation performance optical calibrating device that the utility model proposes realizes non-cpntact measurement, measures IMU output in real time, carries roomy, and stability is high, has the most wide application prospect.
Description
Technical field
This utility model relates to the optical calibrating device of the dynamic navigation performance of a kind of IMU, belongs to optics and passes
Sense and fields of measurement.
Background technology
IMU is the core measuring unit of inertial navigation, and its performance determines navigation accuracy and the attitude of carrier
Control accuracy.Under dynamic environment, can IMU accurately reflect the actual motion information of carrier, is to evaluate inertia measurement
The key of instrument performance quality.For the dynamic navigation of IMU under ground test stage accurate evaluation dynamic condition
Precision and attitude measurement accuracy, it is desirable to provide another independent assessment method, evaluate under IMU dynamic condition,
Navigation in a period of time and attitude measurement performance.In order to ensure the real-time evaluated, this independent measuring method must be able to used
Property measure measurement in a closed series time synchronized, provide in real time IMU relative to the angle of pitch of initial position, yaw angle, rolling
Angle and three-D displacement information, it is achieved the real-time calibration to IMU dynamic property.
Through investigation, Present Domestic does not the most find that precision is high, measures reliably, uses non-contacting optical means to be used to
Property measure combination multidate information measure, demarcate equipment.The existing method demarcating angle and displacement has following several:
1) using Circular gratings to carry out angular surveying, use line grating to carry out displacement measurement, its advantage is that certainty of measurement is high, and response is fast, dynamic
State scope is big, and shortcoming is to realize non-cpntact measurement, or from testee away from too far away, it is impossible to accurate response testee
Moving situation；2) light curtain measurement method: utilizing pairwise orthogonal light curtain to measure, the light curtain blocked by object has at CCD end accordingly
Form, by detecting the deformation of this morphometry object, according to deforming real-time detection angles and displacement.Advantage: two groups of light
Curtain can measure much information simultaneously, determines the attitude of sample between two groups of projection things.Shortcoming: precision is relatively low, directional light is relatively difficult to ensure
Card, weight range is the least, underaction；3) the method needs to be respectively mounted one on three mutually orthogonal surfaces of testee
Reflecting mirror, to realize the direct reflection to laser, and PSD realizes being received the laser after reflection, the torsion in vibration processes
Turn the diverse location of the laser entrance PSD after making reflection, by the change in location of detection reflection laser, measure torsion in real time
Angle.The method can not realize non-cpntact measurement, and device is huge, and added specular reflective mirrors needs to be fixed on testee,
Testee is had certain damage, and reflecting mirror is likely to damage in a dynamic condition.Owing to PSD measures position range
Requirement can not be met with precision simultaneously, therefore under dynamic condition, be likely to occur saturated situation.Therefore, the program has bigger
Limitation.
Constantly extending and improving constantly certainty of measurement and measuring speed along with field of industrial measurement, traditional connects
Touch is measured and cannot meet demand.And laser displacement sensor of based on laser triangulation can realize non-cpntact measurement,
The method has non-cpntact measurement, lossless to tested surface；Measurement Resolution is high, and precision is high；The features such as volume is little.Based on laser position
The above advantage of displacement sensor, therefore considers to combine laser displacement sensor with the demarcation of IMU, Ke Yifei
Contact IMU is demarcated, synchro measure its relative to the angle of pitch of initial position, yaw angle, roll angle and
Three-D displacement information.
Summary of the invention
The utility model proposes a kind of based on laser displacement sensor, non-contacting to IMU at dynamic condition
Under performance carry out caliberating device, it is possible to provide in real time IMU relative to the angle of pitch of initial position, yaw angle, rolling
Dynamic angle and three-D displacement information.
The technical solution of the utility model is as follows:
The optical calibrating device of the dynamic navigation performance of a kind of IMU includes horizontal seismic isolation platform, one-dimensional vibration
Platform, IMU to be measured, the first laser displacement sensor and the first angle displacement of the second laser displacement sensor composition
Measure the second angle displacement of assembly, the 3rd laser displacement sensor and the 4th laser displacement sensor composition measure assembly, the
Five laser displacement sensors and the third angle displacement measurement assembly of the 6th laser displacement sensor composition；One-dimensional vibration table is fixed
At horizontal seismic isolation platform surface, three angle displacements are measured assembly and are fixed on horizontal seismic isolation platform surface, inertia measurement group to be measured
Close and be fixed on the surface of one-dimensional vibration table, three angle displacements measure assembly be arranged in the surrounding of IMU to be measured for
Measure the three-D displacement of IMU to be measured, the angle of pitch, roll angle and yaw angle.Described one-dimensional vibration table is at n coordinate
Under system, can produce one-dimensional vibration in the Y direction, its surface is parallel to X/Y plane.Described IMU to be measured has three mutually
Mutually orthogonal plane, wherein the first plane is parallel to XZ plane, and the second plane is parallel to X/Y plane, and the 3rd plane is parallel to YZ and puts down
Face.
Further, the first described laser displacement sensor and the second laser displacement sensor are parallel to each other and make
Two bundle laser vertical incide in the first plane of IMU to be measured；3rd laser displacement sensor and the 4th laser position
Displacement sensor is parallel to each other and two bundle laser vertical is incided in the second plane of IMU to be measured；5th swashs
Optical displacement sensor and the 6th laser displacement sensor are parallel to each other and make two bundle laser vertical incide inertia to be measured and survey
In 3rd plane of amount combination.
The beneficial effects of the utility model are, this utility model achieves non-the connecing of the dynamic navigation performance of IMU
Touch optical calibrating, the laser displacement sensor of optically-based diffuse-reflectance triangle imaging, it is achieved utilize two laser displacement sensors
Measure the one-dimensional corner of IMU, and then utilize six road laser displacement sensors to realize the survey of three-dimensional perspective and displacement
Amount, and it is aided with machinery adjustment and the alignment device of correspondence, the dynamic property to IMU that can be real-time is demarcated.
Advantage is that non-contacting measurement is lossless for IMU to be measured, and certainty of measurement is high, real-time synchronization.
Accompanying drawing explanation
Fig. 1 is the optical calibrating system diagram of the dynamic navigation performance of IMU.
Detailed description of the invention
This utility model is described in detail in detail below in conjunction with the accompanying drawings.
As it is shown in figure 1, the optical calibrating device of the dynamic navigation performance of a kind of IMU includes horizontal seismic isolation platform
1, one-dimensional vibration table 2, IMU to be measured 3, first laser displacement sensor 4 and the second laser displacement sensor 5 form
First angle displacement measure assembly the 13, the 3rd laser displacement sensor 6 and the 4th laser displacement sensor 7 composition second jiao
The third angle displacement of degree displacement measurement assembly the 14, the 5th laser displacement sensor 8 and the 6th laser displacement sensor 9 composition is surveyed
Amount assembly 15；One-dimensional vibration table 2 is fixed on horizontal seismic isolation platform 1 surface, three angle displacements measure assembly be fixed on level every
Shake platform 1 surface, IMU 3 to be measured is fixed on the surface of one-dimensional vibration table 2, and three angle displacements are measured assembly and arranged
Around IMU 3 to be measured for measure the three-D displacement of IMU 3 to be measured, the angle of pitch, roll angle and
Yaw angle.
One-dimensional vibration table 2, under n coordinate system, can produce one-dimensional vibration in the Y direction, and its surface is parallel to X/Y plane.Described
IMU to be measured 3 have three mutually orthogonal planes, under n coordinate system, wherein the first plane 10 be parallel to XZ put down
Face, the second plane 11 is parallel to X/Y plane, and the 3rd plane 12 is parallel to YZ plane.The first described laser displacement sensor 4 He
Second laser displacement sensor 5 is parallel to each other and makes two bundle laser vertical incide the first of IMU 3 to be measured
In plane 10；3rd laser displacement sensor 6 and the 4th laser displacement sensor 7 are parallel to each other and make two bundle laser vertical
Incide in the second plane 11 of IMU 3 to be measured；5th laser displacement sensor 8 and the 6th laser displacement sensor
9 are parallel to each other and two bundle laser vertical are incided in the 3rd plane 12 of IMU 3 to be measured.
The data acquisition flow of the optical calibrating device of the dynamic navigation performance of described IMU is as follows:
First angle displacement is measured in assembly 13 residing for first laser displacement sensor 4 and the second laser displacement sensor 5
Plane be parallel to X/Y plane, its spacing is L1, two bundle laser of outgoing are parallel to each other, and are perpendicular in an initial condition treat
Surveying the first plane 10 of object, under original state, it is S that the first laser displacement sensor 4 measures the displacement obtained1', the second laser
The displacement obtained measured by displacement transducer 5 is S2', when IMU 3 to be measured turns about the Z axis angleTime, angleFirst
Laser displacement sensor 4 measures the displacement S obtained1, the second laser displacement sensor 5 measure the displacement S that obtains2And two laser
Between distance L1Relation beBy measuring S1、S2With known L1, measure inertia to be measured in real time and survey
Amount combination 3 movement angle about the z axis, i.e. yaw anglesCan get the IMU 3 to be measured displacement along Y-axis simultaneously
Second angle displacement measures the 3rd laser displacement sensor 6 and the institute of the 4th laser displacement sensor 7 in assembly 14
The plane at place is parallel to ZY plane, and its spacing is L2, two bundle laser of outgoing are parallel to each other, and are perpendicular in an initial condition
Second plane 11 of object under test, under original state, it is S that the 3rd laser displacement sensor 6 measures the displacement obtained3', the 4th swashs
It is S that Optical displacement sensor 7 measures the displacement obtained4', when IMU 3 to be measured turns about the X axis angle φ, angle φ,
3rd laser displacement sensor 6 measures the displacement S obtained3, the 4th laser displacement sensor 7 measure the displacement S that obtains4Swash with two
Distance L between light beam2Relation beBy measuring S3、S4With known L2, measure to be measured used in real time
Property measure combination 3 around the movement angle of X-axis, i.e. roll angle φ, can get the IMU 3 to be measured displacement along Z axis simultaneously
5th laser displacement sensor 8 and the institute of the 6th laser displacement sensor 9 in third angle displacement measurement assembly 15
The plane at place is parallel to ZX plane, and its spacing is L3, two bundle laser of outgoing are parallel to each other, and are perpendicular in an initial condition
3rd plane 12 of object under test, under original state, it is S that the 5th laser displacement sensor measures 8 displacements obtained5', the 6th swashs
It is S that Optical displacement sensor 9 measures the displacement obtained6', when IMU 3 to be measured is around Y-axis rotational angle θ, angle, θ,
Five laser displacement sensors 8 measure the displacement S obtained5, the 6th laser displacement sensor 9 measure the displacement S that obtains6With two laser
Distance L between bundle3Relation beBy measuring S5、S6With known L3, measure inertia to be measured in real time
Measure combination 3 movement angle about the z axis, i.e. yaw angles θ, can get the IMU 3 to be measured displacement along X-axis simultaneously
When one-dimensional vibration table along Y axis vibration in order to test when dynamically leading performance of IMU, IMU
Synchronism output three-D displacement information Ix, Iy, Iz and three-dimensional perspective informationIθ, Iφ, two results are compared, i.e. can be used to
The measurement error of three-dimensional perspective and three-D displacement in a dynamic condition is combined in property measurement:
The demarcation of the dynamic navigation performance of IMU, the i.e. performance to IMU can be realized make and commenting
Valency.
Claims (2)
1. the optical calibrating device of the dynamic navigation performance of IMU, it is characterised in that contain horizontal seismic isolation platform
(1), one-dimensional vibration table (2), IMU to be measured (3), the first laser displacement sensor (4) and the second laser displacement sensing
The first angle displacement that device (5) forms measures assembly (13), the 3rd laser displacement sensor (6) and the 4th laser displacement sensor
(7) the second angle displacement formed measures assembly (14), the 5th laser displacement sensor (8) and the 6th laser displacement sensor
(9) third angle displacement measurement assembly (15) formed；One-dimensional vibration table (2) is fixed on horizontal seismic isolation platform (1) surface, three
Angle displacement is measured assembly and is fixed on horizontal seismic isolation platform (1) surface, and IMU to be measured (3) is fixed on one-dimensional vibration table
(2) surface, three angle displacements are measured assembly and are arranged in the surrounding of IMU to be measured (3) and are used for measuring inertia to be measured
Measure the combination three-D displacement of (3), the angle of pitch, roll angle and yaw angle；Described one-dimensional vibration table (2) can produce in the Y direction
One-dimensional vibration, its surface is parallel to X/Y plane；Described IMU to be measured (3) has three mutually orthogonal planes, its
In the first plane (10) be parallel to XZ plane, the second plane (11) is parallel to X/Y plane, and the 3rd plane (12) is parallel to YZ plane.
2. optical calibrating device as claimed in claim 1, it is characterised in that described the first laser displacement sensor (4) and the
Dual-laser displacement transducer (5) is parallel to each other and makes two bundle laser vertical incide the of IMU to be measured (3)
In one plane (10)；3rd laser displacement sensor (6) and the 4th laser displacement sensor (7) are parallel to each other and make two bundles
Laser vertical incides in second plane (11) of IMU to be measured (3)；5th laser displacement sensor (8) and the 6th
Laser displacement sensor (9) is parallel to each other and makes two bundle laser vertical incide the 3rd of IMU to be measured (3)
In plane (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620617131.9U CN205808427U (en) | 2016-06-20 | 2016-06-20 | The optical calibrating device of the dynamic navigation performance of IMU |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620617131.9U CN205808427U (en) | 2016-06-20 | 2016-06-20 | The optical calibrating device of the dynamic navigation performance of IMU |
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| CN205808427U true CN205808427U (en) | 2016-12-14 |
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| CN201620617131.9U Withdrawn - After Issue CN205808427U (en) | 2016-06-20 | 2016-06-20 | The optical calibrating device of the dynamic navigation performance of IMU |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105953820A (en) * | 2016-06-20 | 2016-09-21 | 浙江大学 | Optical calibration device for dynamic navigation performances of inertia measurement combination |
-
2016
- 2016-06-20 CN CN201620617131.9U patent/CN205808427U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105953820A (en) * | 2016-06-20 | 2016-09-21 | 浙江大学 | Optical calibration device for dynamic navigation performances of inertia measurement combination |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161214 Effective date of abandoning: 20181026 |
|
| AV01 | Patent right actively abandoned |