CN205808428U - The optical calibrating system of the dynamic navigation performance of IMU - Google Patents
The optical calibrating system of the dynamic navigation performance of IMU Download PDFInfo
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- CN205808428U CN205808428U CN201620617607.9U CN201620617607U CN205808428U CN 205808428 U CN205808428 U CN 205808428U CN 201620617607 U CN201620617607 U CN 201620617607U CN 205808428 U CN205808428 U CN 205808428U
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- 230000003287 optical effect Effects 0.000 title claims abstract description 23
- 238000006073 displacement reaction Methods 0.000 claims abstract description 116
- 238000005259 measurement Methods 0.000 claims abstract description 28
- 238000002955 isolation Methods 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 11
- 238000011056 performance test Methods 0.000 abstract 1
- 238000012360 testing method Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 2
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- 238000003384 imaging method Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
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Abstract
The utility model discloses the optical calibrating system 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, measure IMU in real time under vibration table provides the external environment condition of dynamic navigation performance test, displacement and the angle of measuring IMU in real time of three dimensions, and utilize angle that measurement obtains by PC and displacement information to compare with the output valve of IMU, thus realize the purpose that the dynamic navigation performance of IMU is demarcated.The IMU dynamic navigation performance optical calibration method 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 system of the dynamic navigation performance of a kind of IMU, belongs to optics and passes
Sense and fields of measurement.
Technical background
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 calibration system, 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 system of the dynamic navigation performance of a kind of IMU comprises optical calibrating device and PC, described
Optical calibrating device include horizontal seismic isolation platform, one-dimensional vibration table, IMU to be measured, the first laser displacement sensor
Assembly, the 3rd laser displacement sensor and the 4th laser position is measured with the first angle displacement of the second laser displacement sensor composition
Second angle displacement of displacement sensor composition measures assembly, the 5th laser displacement sensor and the 6th laser displacement sensor composition
Third angle displacement measurement assembly；One-dimensional vibration table is fixed on horizontal seismic isolation platform surface, and three angle displacements measure assembly
Being fixed on horizontal seismic isolation platform surface, IMU to be measured is fixed on the surface of one-dimensional vibration table, and three angle displacements are surveyed
Amount 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 can produce one-dimensional vibration in the Y direction, and its surface is parallel to X/Y plane；Described
IMU to be measured have three mutually orthogonal planes, wherein the first plane is parallel to XZ plane, and the second plane is parallel
In X/Y plane, the 3rd plane is parallel to YZ plane, described PC measured with three angle displacements respectively by data wire assemblies,
IMU to be measured is connected.
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 the method optically-based diffuse-reflectance triangle imaging, it is achieved utilize two laser displacements
The one-dimensional corner of sensor measurement IMU, and then utilize six road laser displacement sensors to realize three-dimensional perspective and displacement
Measurement, and the machinery being aided with correspondence adjusts and alignment device, and information gathering and processing system, can be real-time to inertia
The dynamic property measuring combination is demarcated.Advantage is that non-contacting measurement is lossless for IMU to be measured, and
Certainty of measurement is high, and real-time synchronization, the demarcation for the dynamic navigation performance of IMU provides effective scaling method.
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 system of the dynamic navigation performance of a kind of IMU comprises optical calibrating device
And PC, described optical calibrating device includes horizontal seismic isolation platform 1, one-dimensional vibration table 2, IMU to be measured 3, first
First angle displacement of laser displacement sensor 4 and the second laser displacement sensor 5 composition measures assembly the 13, the 3rd laser displacement
Second angle displacement of sensor 6 and the 4th laser displacement sensor 7 composition measures assembly the 14, the 5th laser displacement sensor 8
Third angle displacement measurement assembly 15 with the 6th laser displacement sensor 9 composition；One-dimensional vibration table 2 is fixed on horizontal seismic isolation and puts down
Platform 1 surface, three angle displacements measurement assemblies are fixed on horizontal seismic isolation platform 1 surface, and IMU 3 to be measured is fixed on one
The surface of dimension vibration table 2, three angle displacements measure assembly, and to be arranged in the surrounding of IMU 3 to be measured to be measured for measuring
The three-D displacement of IMU 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, wherein
First plane 10 is parallel to XZ plane, and the second plane 11 is parallel to X/Y plane, and the 3rd plane 12 is parallel to YZ plane, described PC
Machine measures assembly with three angle displacements respectively by data wire, IMU to be measured 3 is connected.
The first described laser displacement sensor 4 and the second laser displacement sensor 5 are parallel to each other and two bundles are swashed
Light impinges perpendicularly in the first plane 10 of IMU 3 to be measured；3rd laser displacement sensor 6 and the 4th laser displacement
Sensor 7 is parallel to each other and two bundle laser vertical is incided 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 make two bundle laser vertical incide to be measured being used to
Property measure combination 3 the 3rd plane 12 on.
The optical calibration method using this utility model optical calibrating system can be such that
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
PC realizes the real-time synchronization collection of 6 laser displacement sensor signals and IMU signal, obtains
Three-D displacement information LX, LY, LZWith three-dimensional perspective informationθ, φ, when one-dimensional vibration table along Y axis vibration in order to test inertia measurement
When dynamically leading performance of combination, three-D displacement information Ix of PC synchronous acquisition IMU output, Iy, Iz and three dimensional angular
Degree informationIθ, Iφ, two results are compared, i.e. can get IMU three-dimensional perspective in a dynamic condition and three-dimensional
The measurement error of displacement is:
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 system of the dynamic navigation performance of IMU, it is characterised in that comprise optical calibrating device and
PC, described optical calibrating device include horizontal seismic isolation platform (1), one-dimensional vibration table (2), IMU to be measured (3),
The first angle displacement that first laser displacement sensor (4) and the second laser displacement sensor (5) form measure assembly (13), the
Three laser displacement sensors (6) and the 4th laser displacement sensor (7) form second angle displacement measure assembly (14), the 5th
Third angle displacement measurement assembly (15) that laser displacement sensor (8) and the 6th laser displacement sensor (9) form；One-dimensional shake
Dynamic platform (2) is fixed on horizontal seismic isolation platform (1) surface, and three angle displacements are measured assembly and are fixed on horizontal seismic isolation platform (1) table
Face, IMU to be measured (3) is fixed on the surface of one-dimensional vibration table (2), and three angle displacement measurement assemblies are arranged in and treat
Survey the surrounding of IMU (3) be used for measuring the three-D displacement of IMU to be measured (3), the angle of pitch, roll angle and
Yaw angle；Described one-dimensional vibration table (2) can produce one-dimensional vibration in the Y direction, and its surface is parallel to X/Y plane；Described is to be measured
IMU (3) has three mutually orthogonal planes, and wherein the first plane (10) is parallel to XZ plane, the second plane (11)
Being parallel to X/Y plane, the 3rd plane (12) is parallel to YZ plane, described PC by data wire respectively with three angle displacements
Measure assembly, IMU to be measured (3) is connected.
2. optical calibrating system 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 |
|---|---|---|---|
| CN201620617607.9U CN205808428U (en) | 2016-06-20 | 2016-06-20 | The optical calibrating system of the dynamic navigation performance of IMU |
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| CN201620617607.9U CN205808428U (en) | 2016-06-20 | 2016-06-20 | The optical calibrating system of the dynamic navigation performance of IMU |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111504344A (en) * | 2020-05-15 | 2020-08-07 | 天津时空经纬测控技术有限公司 | Calibration system and method for calibrating non-contact attitude measurement equipment |
| CN111879496A (en) * | 2020-08-24 | 2020-11-03 | 中国航空工业集团公司北京长城计量测试技术研究所 | High-precision real-time resetting and measuring device for wind tunnel balance loading head |
-
2016
- 2016-06-20 CN CN201620617607.9U patent/CN205808428U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111504344A (en) * | 2020-05-15 | 2020-08-07 | 天津时空经纬测控技术有限公司 | Calibration system and method for calibrating non-contact attitude measurement equipment |
| CN111504344B (en) * | 2020-05-15 | 2022-03-11 | 天津时空经纬测控技术有限公司 | Calibration system and method for calibrating non-contact attitude measurement equipment |
| CN111879496A (en) * | 2020-08-24 | 2020-11-03 | 中国航空工业集团公司北京长城计量测试技术研究所 | High-precision real-time resetting and measuring device for wind tunnel balance loading head |
| CN111879496B (en) * | 2020-08-24 | 2022-07-15 | 中国航空工业集团公司北京长城计量测试技术研究所 | High-precision real-time resetting and measuring device for wind tunnel balance loading head |
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