CN207280477U - A kind of a wide range of dynamic testing angle precision detection device of spaceborne sweep mechanism - Google Patents
A kind of a wide range of dynamic testing angle precision detection device of spaceborne sweep mechanism Download PDFInfo
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- CN207280477U CN207280477U CN201721101366.3U CN201721101366U CN207280477U CN 207280477 U CN207280477 U CN 207280477U CN 201721101366 U CN201721101366 U CN 201721101366U CN 207280477 U CN207280477 U CN 207280477U
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Abstract
This patent discloses a kind of spaceborne a wide range of dynamic testing angle precision detection device of sweep mechanism.Dynamic testing angle precision check device puts box, scanning with being directed toward control circuit case, data acquisition and processing computer etc. before including dynamic angle testing device, theodolite, Dali Shitai County, L-type frock, inductosyn.The a wide range of dynamic testing angle precision detection method of sweep mechanism includes benchmark calibration and dynamic measuring angle.Box is put before wherein using inductosyn and control circuit case realizes that angle is directed toward at equal intervals in visual field, and benchmark calibration is carried out with theodolite；Sweep mechanism shuttle-scanning in visual field is realized using control system, the detection of dynamic testing angle precision in visual field is realized with dynamic angle testing device and turntable.This patent realizes the dynamic testing angle precision detection in sweep mechanism range of movement in the case where sweep mechanism range of movement is limited, and the fusion for completing the angle measurement accuracy of the angle-measuring equipment of the different benchmark such as theodolite, dynamic angle testing device and inductosyn is unified.
Description
Technical field
This patent is related to inductosyn angle-measuring equipment angle measurement accuracy detection technique field, more particularly to spaceborne scanning machine
The a wide range of dynamic testing angle precision detection device of structure.
Background technology
At present, the dynamic accuracy during the sweeping of spaceborne sweep mechanism is directly related to the accurate positioning for loading its equipment
Property, how effectively accurately to measure most important.
Equipment for angular surveying has photoelectric auto-collimator, polyhedral prism, multiteeth indexing table, theodolite, optical fiber top
Spiral shell instrument, the turntable of higher precision and dynamic angle testing device etc., High-precision angle measurement is completed by its mutual cooperation.
Photoelectric auto-collimator is limited to visual field, and polyhedral prism is not suitable for the test that small range swings shafting, multiple tooth indexing
Platform is not suitable for high density measurement.
" the inductosyn angle measurement accuracy inspection method research based on theodolite " (sensing technology journal the 5th phase of volume 21
In May, 2008) theodolite testing axial system error is employed in a text, this method measurement visual field is big, and is adapted to small range to return
The high density measurement of shaft system.But since sweep mechanism movement is reciprocating sweep, its dynamic characteristic can not be measured using this method.
Patent " a kind of Dynamic High-accuracy angle-measuring equipment and method " (CN105091844A), the invention propose Dynamic High-accuracy
Angle measurement technique, dynamic testing angle precision measurement calibration is carried out using laser gyro.
Due to the particularity of AEROSPACE APPLICATION, the angle range for the sweep mechanism that this patent is related to is limited, can not directly adopt
Calibration measurement is carried out with lasergyro, therefore employs dynamic angle testing device and theodolite progress dynamic angle precision calibration.
The content of the invention
In order to adapt to the characteristic that the hunting range of spaceborne sweep mechanism is limited, this patent provides a kind of spaceborne big model of scanning
Enclose dynamic testing angle precision detection device.Solves the detection of a wide range of dynamic testing angle precision of sweep mechanism.
The scheme that this patent solves is that dynamic angle measurer mainly includes dynamic angle testing device 11, dynamic angle testing device auxiliary calculates
Machine 12, dynamic angle testing device fixing tool 13, theodolite 8, theodolite fixing tool 9, Dali Shitai County 4, L-type frock 14, scanning machine
Box 3, scanning are put before structure fixing tool 2, turntable 15, regulated power supply 7, inductosyn with being directed toward control circuit case 5, control calculating
Machine 10, data acquisition and processing computer 6.
11 angle measurement accuracy 1 of dynamic angle testing device in dynamic testing angle precision detection device " (3 σ), 3.5 ° of measurable angle range, repeatability
Better than 0.5 "；Dynamic angle testing device secondary computer 12 is used to gather dynamic angle testing device data angle measurement data acquiring frequency 3KHz；It is dynamic
13 mounting surface flatness of state angular instrument fixing tool is better than 0.02mm；8 angle measurement accuracy 0.5 of theodolite "；Theodolite fixing tool 9
Mounting surface flatness is better than 0.02mm；4 flatness of Dali Shitai County is more than 0 grade；Sweep mechanism fixing tool 2 and L-type frock 14
Mounting surface flatness is better than 0.02mm；Turntable 15 is used to adjust dynamic measuring angle region, turntable range of movement ± 180 degree；Voltage stabilizing electricity
Source 7 is 28V voltage outputs, export maximum current 3A, for put before inductosyn box 3 and scanning with direction control circuit case
5 power supplies；Box 3 is put before inductosyn to be used to gather bidimensional angle information, angular sampling frequency 50KHz, angle measurement stability in real time
Better than 0.3 "；Sweep mechanism 1 and scanning are directed toward control circuit case 5 and collectively constitute sweep mechanism control system, scan control precision
Better than 2 "；Control computer 10 be used for give scan control circuit case send motion control instruction, control its be directed toward target location or
Shuttle-scanning；Data acquisition and processing (DAP) computer 6 obtains the angle information of inductosyn for showing, sample frequency 1KHz.
Detection device is laid out as follows：
Sweep mechanism 1 is installed on sweep mechanism fixing tool 2, is then attached in L-type frock 14, and L-type frock 14 is pacified
Loaded on turntable 15, it is placed in Dali Shitai County 4, box 3 is put before inductosyn and is positioned in the Shitai County of Dali, connection sweep mechanism 1,
Box 3 and scanning and the cable being directed toward between control circuit case 5 are put before inductosyn, regulated power supply 7 and scanning is connected and is directed toward
Cable between control circuit case 5, connection scanning is with being directed toward control circuit case 5 and data acquisition and processing computer 6 and control
10 cables of computer, theodolite 8 are fixed on theodolite fixing tool 9, and dynamic angle testing device 11 is fixed on dynamic angle testing device and consolidates
Determine in frock 13, be placed in Dali Shitai County 4, connect cable between dynamic angle testing device 11 and dynamic angle testing device secondary computer 12.
This patent is it is characterized in that, dynamic is smart during realizing sweep mechanism sweeping by benchmark calibration and dynamic measuring angle
Spend the detection of performance.
Dynamic accuracy is defined as the corner measured by putting box before inductosyn during a wide range of sweeping of sweep mechanism
Deviation between value and the corner value measured by external optical devices.
Divide benchmark calibration and dynamic accuracy test.
Benchmark calibration is also known as rotational angle accuracy test at equal intervals；Dynamic accuracy test is called equal angle sampling angle precision
Test.
(1) rotational angle precision at equal intervals
It is synchronous by sensing when rotational angle definition of accuracy carries out equally spaced repeatedly rotation for one-dimensional scanning mechanism at equal intervals
Device read outer corner measurement value and by theodolite read actual rotational angle between deviation；
(2) equal angle sampling angle precision
Equal angle sampling angle is defined as in dynamic angle testing device visual field the at the uniform velocity differential seat angle of each sampling time interval of section；
Equal angle sampling angle precision be defined as dynamic angle testing device equal angle sampling angle measurement and theoretical value it is inclined
Difference.
It is rotational angle precision calibration, and checking of dynamic accuracy, that is, equal angle sampling angle precision at equal intervals to benchmark calibration
Detection method, illustrates respectively.
1. rotational angle precision at equal intervals
Using theodolite, the static measurement precision to inductosyn is detected, its principle is：Sweep mechanism is worked as in measurement
Some angle is turned over, while reads inductosyn reading, 100 values are averaged, and the corner reading of external equipment is used as very
Real value, and compare its difference.The difference is defined as the angle measurement deviation A of the measurement point.
Sweep mechanism from the off, rotates 20 ', can obtain a series of set of the angle measurement deviation of measurement points every time
{An}。
It is required that the 3 σ statistical values of angle measurement deviation { An } absolute value of ± 5 ° of all measurement points are determined in scanning camera working range
Justice is the angle measurement accuracy of angle-measuring equipment.
2. equal angle sampling angle precision
In universe scanning process, the angle-data under the scanning of dynamic angle testing device collection universe, I notch speed degree.
Dynamic angle testing device measurement visual field is 3.5 °, is measured in 10 ° of three sections of uniform speed scanning region time-divisions of measurement, center regards
Field respectively substar, -3.25 ° ,+3.25 °.
If tested sweep mechanism ideal movements angular speed is V0, then amount angular displacement Δ θ in corresponding sampling interval T0=
V0* T, measured value are Δ θi, sample number is N, value 5000, then sampling angle accuracy computation formula is：
1) movement locus of sweep mechanism at the uniform velocity section is obtained by angular instrument, obtains sampling angle measurement value sequence Δ θi(i
=1~N)；
2) movement velocity V is tried to achieve according to the sampling angle in sampling period interval, be averaging at the same time, obtain theoretical angle speed
Degree；
C) ideal angle value is calculated：
D) 3 σ are calculated further according to formula (1-1) and is worth to accuracy value.
3. line array CCD is used for dynamic angle measurement principle
It is as shown in Figure 2 that line array CCD is used for dynamic angle measurement principle：
The directional light that parallel light tube is sent is incided on sweep mechanism, sweep mechanism turn to diverse location correspond to it is different
Reflection light, reflection light is by cylindrical lens focus to line array CCD photosurface, and line array CCD is placed on cylindrical lens herein
Image space focal plane on, the shaft of sweep mechanism is vertical with the photosensitive element array directions of CCD.When sweep mechanism turns over a small angle
When spending θ, the light that sweep mechanism reflects will be turned over the angle of 2 θ, and the luminous point focused on the photosensitive element array of CCD also has phase
The displacement y answered, can obtain according to geometric optics knowledge：
Wherein, y is image patch displacement, and F ' is optical system focal length.
In real application systems, image patch of the target in CCD device generally occupies multiple pixels, if taken through electronics
The method of center of gravity is sought after subdivision to improve a magnitude, calculation formula such as following formula (1-6) by precision：
Wherein, y ' --- target barycentric position value；
D --- the photosensitive first centre-to-centre spacing of CCD；
I --- photosensitive member ordinal number；
Vi' --- i-th of photosensitive yuan of output voltage values after threshold process.
The purpose of threshold process is to remove the non-targeted signal caused by the reason such as noise or interference, reduces follow-up data
The calculation amount of processing, since CCD image patches are to concentrate on a section, can reduce computer capacity by threshold process, can be with
Eliminate random disturbances.Threshold process expression formula is：
Wherein, ViFor the magnitude of voltage of i-th of photosensitive yuan of output；
VgFor the threshold level of setting, 5%~8% of signal peak or so is generally taken.
According to the photosensitive member position y that y ' values and first participation computing is calculated0Offset can be calculated by subtracting each other
Y, thus can converse angle value θ.
Advantage is this patent compared with prior art：
(1) dynamic testing angle precision detection is realized under sweep mechanism corner limited situation.
(2) by dynamic angle testing device visual field areal survey, a wide range of dynamic testing angle precision of sweep mechanism full filed is realized
Detection.
Brief description of the drawings
Fig. 1 is sweep mechanism dynamic angle measurer layout.
Fig. 2 is CCD dynamic measuring angle principle schematics.
Embodiment
The first step：Adjust theodolite levelness
Before detecting angle measurement accuracy, the levelness of theodolite need to be adjusted by theodolite knob, ensures the datum level of theodolite
It is parallel to the ground.It is required that the bubble of characterization theodolite levelness shows horizontal error 3 " in.
Second step：Adjust sweep mechanism verticality
Sweep mechanism and measuring apparatus arrangement is as shown in Figure 1.
To reduce measurement error, need to ensure the verticality of sweep mechanism first, bearing calibration is as follows：
1) sweep mechanism is placed in -5 ° of positions, as the starting point of test, theodolite is directed at sweep mechanism, reads longitude and latitude
Instrument current location reading
2) control sweep mechanism to rotate 10 °, to+5 ° of positions, read theodolite current location reading
3) difference of reading twice in pitch orientation is compared, if difference is more than 3 ", carried out under L-type frock using gasket
Adjustment
4) repeat step 1) -3), until when orientation reading differs 10 °, pitching reading is less than 3 ".
3rd step：Rotational angle accuracy detection at equal intervals
It is interval with 20 ' in the range of ± 320 ' i.e. ± 5.33 ° to control sweep mechanism, carries out inductosyn angle measurement essence
Degree test, measuring process are：
1) control sweep mechanism to be directed toward 0 ° of position, make this point be used as datum mark θ0=0 °；
2) current inductosyn reading is recorded, theodolite orientation reading is reset；
3) sweep mechanism is controlled to be directed toward θ0- 320 ' position；
4) current inductosyn reading and theodolite orientation reading are recorded；
5) sweep mechanism is controlled to be directed toward θ0- 300 ' position；
6) current inductosyn reading and theodolite orientation reading are recorded；
7) control sweep mechanism is interval with 20 ', carries out direction θ point by point0-280′、θ0-260′、θ0-240′……θ0+
320 ', and the inductosyn reading and theodolite orientation reading of each point are recorded, until θ0+ 320 ' position；
8) repeat step 1) -7), test altogether three times；
4th step：Equal angle sampling angle precision detects
Control sweep mechanism in the range of ± 5 ° to be scanned, sampling angle precision inspection is carried out using dynamic angle testing device
Survey, measuring process is：
1) sweep mechanism is controlled to be directed toward 0 ° of position；
2) dynamic angle testing device central vision is directed at sweep mechanism；
3) sweep mechanism is controlled to carry out one grade of universe scanning；
4) dynamic angle testing device secondary computer and software collection sampling angle data are used；Gathered data is more than or equal to 3 groups.
5) sweep mechanism is controlled to be directed toward -3.25 ° of positions, repeat step 2-4；
6) sweep mechanism is controlled to be directed toward+3.25 ° of positions, repeat step 2-4；
7) carry out data processing and record result to record sheet.
5th step：Data process＆analysis
The computational methods of rotational angle precision are at equal intervals：
1) during datum mark, theodolite orientation reading is 0 °, inductosyn reading E0.
2) in scanning range, theodolite orientation reading θ n, inductosyn reading En.
3) transit survey corner actual value：Δ θ n=θ n-0 °
4) inductosyn measurement outer corner measurement value：Δ En=En-E0
5) deviation of inductosyn measurement corner and transit survey corner, calculation formula are：
An '=Δ En*0.11- Δ θ n.1 code word of inductosyn reading is equal to 0.11 ".
6) the average value An of the angle measurement deviation An ' measured three times is calculated.
The computational methods of equal angle sampling angle precision are：
1) ideal angle value is calculated according to formula (1-2) to (1-4)；
2) equal angle sampling angle precision is calculated according to formula (1-1)；
3) the equal angle sampling angle precision measured three times is calculated respectively and is averaged；
4) the equal angle sampling angle precision of first gear speed is calculated；
The equal angle sampling angle precision of three central vision positions is calculated respectively.
Claims (1)
1. a kind of a wide range of dynamic testing angle precision detection device of spaceborne sweep mechanism, including dynamic angle testing device (11), dynamic measuring angle
Instrument secondary computer (12), dynamic angle testing device fixing tool (13), theodolite (8), theodolite fixing tool (9), Dali Shitai County
(4), put before L-type frock (14), sweep mechanism fixing tool (2), turntable (15), regulated power supply (7), inductosyn box (3),
Scanning is with being directed toward control circuit case (5), control computer (10), data acquisition and processing computer (6)；It is characterized in that：
The angle measurement accuracy of (11) 3 σ of dynamic angle testing device is 1 ", the measurable angle range of object space is 7 °, and repeatability is better than 0.5 "；
The dynamic angle testing device secondary computer (12) is used to gather dynamic angle testing device data angle measurement data acquiring frequency 3KHz；
Dynamic angle testing device fixing tool (13) mounting surface flatness is better than 0.02mm；
Described theodolite (8) angle measurement accuracy 0.5 "；
Described theodolite fixing tool (9) the mounting surface flatness is better than 0.02mm；
Described Dali Shitai County (4) flatness is more than 0 grade；
The sweep mechanism fixing tool (2) and L-type frock (14) mounting surface flatness is better than 0.02mm；
The turntable (15) is used to adjust dynamic measuring angle region, turntable range of movement ± 180 degree；
The regulated power supply (7) is 28V voltage outputs, export maximum current 3A, for put before inductosyn box (3) and
Scanning is powered with being directed toward control circuit case (5)；
Box (3) is put before the inductosyn to be used to gather bidimensional angle information, angular sampling frequency 50KHz, angle measurement in real time
Stability is better than 0.3 "；
Sweep mechanism (1) and scanning are directed toward control circuit case (5) and collectively constitute sweep mechanism control system, and scan control precision is excellent
In 2 "；
The control computer (10) is used to send motion control instruction to scan control circuit case, controls it to be directed toward target position
Put or shuttle-scanning；Data acquisition and processing (DAP) computer (6) obtains the angle information of inductosyn for showing, sample frequency
1KHz；
Sweep mechanism (1) is installed on sweep mechanism fixing tool (2), is then attached in L-type frock (14), L-type frock
(14) it is installed on turntable (15), is placed in Dali Shitai County (4), box (3) is put before inductosyn and is positioned in the Shitai County of Dali, even
Box (3) and scanning and the cable being directed toward between control circuit case (5) are put before connecing sweep mechanism (1), inductosyn, connects voltage stabilizing
Power supply (7) and scanning and the cable being directed toward between control circuit case (5), connection scanning is with being directed toward control circuit case (5) and data
Cable between collection and processing computer (6) and control computer (10), theodolite (8) are fixed on theodolite fixing tool (9),
Dynamic angle testing device (11) is fixed on dynamic angle testing device fixing tool (13), is placed in Dali Shitai County (4), connects dynamic angle testing device
(11) cable between dynamic angle testing device secondary computer (12).
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107664509A (en) * | 2017-08-30 | 2018-02-06 | 中国科学院上海技术物理研究所 | A kind of a wide range of dynamic testing angle precision detection means of spaceborne sweep mechanism and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107664509A (en) * | 2017-08-30 | 2018-02-06 | 中国科学院上海技术物理研究所 | A kind of a wide range of dynamic testing angle precision detection means of spaceborne sweep mechanism and method |
| CN107664509B (en) * | 2017-08-30 | 2024-01-05 | 中国科学院上海技术物理研究所 | Device and method for detecting large-range dynamic angle measurement precision of spaceborne scanning mechanism |
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