CN207528248U - A kind of spaceborne two-dimensional pointing mechanism angle measurement accuracy detection device - Google Patents
A kind of spaceborne two-dimensional pointing mechanism angle measurement accuracy detection device Download PDFInfo
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- CN207528248U CN207528248U CN201721095030.0U CN201721095030U CN207528248U CN 207528248 U CN207528248 U CN 207528248U CN 201721095030 U CN201721095030 U CN 201721095030U CN 207528248 U CN207528248 U CN 207528248U
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Abstract
This patent discloses a kind of spaceborne two-dimensional pointing mechanism angle measurement accuracy detection devices.Detection device puts box, scanning with being directed toward control circuit case, directing mechanism fixing tool, regulated power supply, data acquisition and processing (DAP) computer before mainly including theodolite and theodolite fixing tool, Dali Shitai County, inductosyn.Detection method is realized by adjusting directing mechanism mounting tool measures axis and horizontal plane, using being put before inductosyn in box and control circuit case realization two-dimensional field of view, angle is directed toward at equal intervals, each orientation angle is 20 jiaos points, and measured with theodolite, it compares the measurement angle of theodolite and the measurement angle of inductosyn obtains angle measurement accuracy data.Similarly, it replaces mounting tool and carries out another dimension angle measurement accuracy measurement.This patent realizes the angle measurement accuracy detection in visual field under two-dimensional pointing mechanism corner limited situation, meets index request after measuring and demarcating, guarantee is provided for the in-orbit high positioning accuracy of satellite.
Description
Technical field
This patent is related to inductosyn angle-measuring equipment angle measurement accuracy detection technique field, refers to more particularly to spaceborne two dimension
It is realized to mechanism angle measurement accuracy detection method.
Background technology
At present, the precision of angle-measuring equipment is directly related to the positioning accuracy for loading its equipment, how effective and accurate
It measures most important.
There are photoelectric auto-collimator, polyhedral prism, multiteeth indexing table, theodolite, optical fiber top for the equipment of angle measurement
Spiral shell instrument, the turntable of higher precision and dynamic angle testing device etc. are completed High-precision angle by its mutual cooperation and are measured.
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.General spaceborne two-dimensional pointing mechanism generally use theodolite carries out angle measurement accuracy detection.
" the inductosyn angle measurement accuracy inspection method research based on theodolite " (sensing technology journal the 5th phase of volume 21
In May, 2008) employ theodolite testing axial system error in a text, it is big that this method measures visual field, and small range is suitble to return
The high density of shaft system measures.But it is moved since two-dimensional pointing mechanism is coupled for bidimensional, this method can not meet
Its angle measurement accuracy measures.
Patent " a kind of Dynamic High-accuracy angle-measuring equipment and method " (CN105091844A), the invention propose Dynamic High-accuracy
Angle measurement technique carries out dynamic testing angle precision using laser gyro and measures calibration.
Due to the particularity of AEROSPACE APPLICATION, the angle range for the two-dimensional pointing mechanism that this patent is related to is limited, can not adopt
Calibration measurement is carried out with lasergyro.And two-dimensional pointing mechanism is bidimensional coupled structure, needs to tie up its four corners of the world carrying out
It is independent to measure.It needs to ensure orthogonal in bidimensional measurement process, special tooling need to be designed and measured.
Therefore the angle measurement accuracy calibration in field range is carried out using theodolite cooperation two-dimensional pointing mechanism bidimensional tooling.
Invention content
For the characteristic that the hunting range for adapting to spaceborne two-dimensional pointing mechanism is limited and two dimension couples, this patent provides one
The spaceborne two-dimensional pointing mechanism angle measurement accuracy detection device of kind.Solves the problems, such as the measurement of the angle measurement accuracy of two-dimensional pointing mechanism.
This patent solve scheme be detection device mainly include theodolite 8, theodolite fixing tool 9, Dali Shitai County 4,
Put before inductosyn box 3, scanning be directed toward control circuit case 5, directing mechanism fixing tool 2, north and south dimension angle measurement tooling 10,
Thing dimension angle measurement tooling 11, regulated power supply 7, data acquisition and processing (DAP) computer 6.
This patent is only capable of ± 6 degree of movement in two-dimensional pointing mechanism corner, under angle limited situation, employs detection side as follows
Method：Directing mechanism thing axis 13 and horizontal plane are realized by adjusting the thing dimension angle measurement tooling 11 of directing mechanism 1, are used
Box 3 and scanning are put before inductosyn and realizes that angle is directed toward at equal intervals in two-dimensional field of view with control circuit case 5, the angle being directed toward every time
20 jiaos points are divided between degree, and is measured with theodolite 8, compares the measurement angle of theodolite and the measurement angle of inductosyn
Obtain thing dimension angle measurement accuracy data；The north and south dimension angle measurement tooling 10 of adjustment directing mechanism 1 realizes that north and south axis 12 hangs down with horizontal plane
Directly, it measures to obtain north and south dimension angle measurement accuracy data as stated above.
8 angle measurement accuracy 0.5 of theodolite in detection device "；4 flatness of Dali Shitai County is 0 grade or more；Directing mechanism regular worker
For dress for fixing directing mechanism, mounting plane degree is better than 0.02mm；For theodolite fixing tool 9 for fixing theodolite, installation is flat
Face degree is better than 0.02mm；North and south dimension angle measurement tooling 10 and thing dimension angle measurement tooling 11 are used to adjust the measurement axis of two-dimensional pointing mechanism
With the verticality of horizontal plane, mounting plane degree is better than 0.02mm；Regulated power supply 7 is 28V voltage outputs, exports maximum current 3A,
For being powered with being directed toward control circuit case to putting box and scanning before inductosyn；Box 3 is put before inductosyn for adopting in real time
Collect bidimensional angle information, angular sampling frequency 50KHz, angle measurement stability is better than 0.3 rad；Two-dimensional pointing mechanism 1 and scanning refer to
Two-dimensional pointing mechanism control system is collectively constituted to control circuit case 5, control accuracy is directed toward and is better than 0.5 rad；Data acquire and
Processing computer 6 obtains the angle information of inductosyn for showing.
Detection device is laid out as follows.
(1) thing dimension angle-measuring equipment layout：
Directing mechanism 1 is installed on directing mechanism fixing tool 2, is then attached in thing dimension angle measurement tooling 11, is placed in
Box 3 is put in Dali Shitai County 4, before inductosyn to be positioned in the Shitai County of Dali, and box is put before connection directing mechanism 1 and inductosyn
Cable between 3 puts box 3 and scanning and the cable being directed toward between control circuit case 5, connection voltage stabilizing electricity before connecting inductosyn
Source 7 and scanning and the cable being directed toward between control circuit case 5, connection scanning are acquired and are located with data with being directed toward control circuit case 5
6 cables of computer are managed, theodolite 8 is fixed on theodolite fixing tool 9.
(2) north and south dimension angle-measuring equipment layout：
Directing mechanism 1 is installed on directing mechanism fixing tool 2, is then attached in north and south dimension angle measurement tooling 10, is placed in
Box 3 is put in Dali Shitai County 4, before inductosyn to be positioned in the Shitai County of Dali, and box is put before connection directing mechanism 1 and inductosyn
Cable between 3 puts box 3 and scanning and the cable being directed toward between control circuit case 5, connection voltage stabilizing electricity before connecting inductosyn
Source 7 and scanning and the cable being directed toward between control circuit case 5, connection scanning are acquired and are located with data with being directed toward control circuit case 5
6 cables of computer are managed, theodolite 8 is fixed on theodolite fixing tool 9.
The dimension angle measurement accuracy detection of two-dimensional pointing mechanism thing includes the following steps：
(1) theodolite levelness is adjusted
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.
(2) it adjusts and is directed toward mirror thing dimension verticality
1) mirror north and south dimension will be directed toward and is directed toward 0 ° of position, and thing dimension will be placed in -3 °, as the starting point of test, by theodolite pair
Standard is directed toward mirror, reads theodolite current location reading
2) -3 ° to+3 ° positions of mirror thing dimension rotation are directed toward in control, read theodolite current location reading
3) compare the difference of reading twice in pitch orientation, if difference is more than 3 ", it is adjusted under tooling using gasket
It is whole
4) step 1) -3 is repeated), until when orientation reading differs 6 °, pitching reading is less than 3 "
(3) thing dimension angle measurement accuracy detection
It remains pointing to mirror north and south dimension and is directed toward 0 ° of position, mirror thing dimension is directed toward in the range of ± 200 ' i.e. ± 3.33 °, with 20 '
For interval, angle measurement accuracy test is carried out, measuring process is：
1) control is directed toward mirror thing dimension and is directed toward 0 ° of position, enables this point as datum mark θ0=0 °；
2) current inductosyn reading is recorded, theodolite orientation reading is reset；
3) control is directed toward mirror thing dimension and is directed toward θ0- 200 ' position；
4) current inductosyn reading and theodolite orientation reading are recorded；
5) control is directed toward mirror thing dimension and is directed toward θ0- 180 ' position；
6) current inductosyn reading and theodolite orientation reading are recorded；
7) it is interval that control, which is directed toward mirror thing dimension with 20 ', carries out direction θ point by point0-160′、θ0-140′、θ0-120′……
θ0+ 200 ', and the inductosyn reading of each point and theodolite orientation reading are recorded, until θ0+ 200 ' position；
8) step 1) -7 is repeated), it tests altogether three times；
The dimension angle measurement accuracy detection of two-dimensional pointing mechanism north and south includes the following steps：
(1) theodolite levelness is adjusted
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.
(2) it adjusts and is directed toward mirror north and south dimension verticality
1) mirror thing dimension will be directed toward and is directed toward substar position, and north and south dimension will be placed in -5 °, as the starting point of test, by longitude and latitude
Mirror is directed toward in instrument alignment, reads theodolite current location reading
2) mirror north and south -5 ° to+5 ° positions of dimension rotation are directed toward in control, read theodolite current location reading
3) compare the difference of reading twice in pitch orientation, if difference is more than 3 ", it is adjusted under tooling using gasket
It is whole
4) step 1) -3 is repeated), until when orientation reading differs 10 °, pitching reading is less than 3 "
(3) north and south dimension angle measurement accuracy detection
It remains pointing to mirror thing dimension and is directed toward 0 ° of position, mirror north and south dimension is directed toward in the range of ± 320 ' i.e. ± 5.33 °, with 20 '
For interval, inductosyn angle measurement accuracy test is carried out, measuring process is：
1) control is directed toward mirror north and south dimension and is directed toward 0 ° of position, enables this point as datum mark θ0=0 °；
2) current inductosyn reading is recorded, theodolite orientation reading is reset；
3) control is directed toward mirror north and south dimension and is directed toward θ0- 320 ' position；
4) current inductosyn reading and theodolite orientation reading are recorded；
5) control is directed toward mirror north and south dimension and is directed toward θ0- 300 ' position；
6) current inductosyn reading and theodolite orientation reading are recorded；
7) it is interval that control, which is directed toward mirror north and south dimension with 20 ', carries out direction θ point by point0-280′、θ0-260′、θ0-240′……
θ0+ 320 ', and the inductosyn reading of each point and theodolite orientation reading are recorded, until θ0+ 320 ' position；
8) step 1) -7 is repeated), it tests altogether three times；
Advantage is this patent compared with prior art：
(1) the angle measurement accuracy detection in visual field is realized under two-dimensional pointing mechanism corner limited situation.
(2) the angle measurement accuracy detection of the rotating mechanism of bidimensional coupling is realized.
Description of the drawings
Fig. 1 is two-dimensional pointing mechanism thing dimension angle-measuring equipment layout.
Fig. 2 is two-dimensional pointing mechanism north and south dimension angle-measuring equipment layout.
Fig. 3 is two-dimensional pointing mechanism schematic diagram.
Fig. 4 is two-dimensional pointing mechanism thing dimension angle measurement accuracy curve graph.
Fig. 5 is two-dimensional pointing mechanism north and south dimension angle measurement accuracy curve graph.
Specific embodiment
The first step：Substar calibration is Zero calibration
The calibration of substar is carried out using theodolite, mirror is directed toward and is directed toward 5 ° of ± 5 ° i.e. 5 ° of south and north, with horizontal positioned warp
The direction of mirror normal is directed toward in the monitoring of latitude instrument, if monitoring result is directed toward mirror normal and is only changed in the pitch orientation of theodolite, and is not had
There is azimuthal variation, then it is assumed that the position that the thing of directing mechanism at this time is directed toward axis is its zero-bit.If it is directed toward the method for mirror
Line direction is changed greatly in the azimuth direction of theodolite, then the thing that should change directing mechanism is directed toward position or the adjusting of axis
The horizontality of directing mechanism does north and south direction again, and when directing mechanism, which does north and south ± 5 °, to be directed toward, the normal for being directed toward mirror exists
Until the variation of the azimuth direction of theodolite is in allowed band.
Second 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.
Third walks：It adjusts and is directed toward mirror thing dimension verticality
To reduce measurement error, the verticality for ensureing to be directed toward mirror is needed first, bearing calibration is as follows：
1) mirror north and south dimension will be directed toward and is directed toward substar position, and thing dimension will be placed in -3 °, as the starting point of test, by longitude and latitude
Mirror is directed toward in instrument alignment, reads theodolite current location reading
2) -3 ° to+3 ° positions of mirror thing dimension rotation are directed toward in control, read theodolite current location reading
3) compare the difference of reading twice in pitch orientation, if difference is more than 3 ", it is adjusted under tooling using gasket
It is whole
4) step 1) -3 is repeated), until when orientation reading differs 6 °, pitching reading is less than 3 "
4th step：Thing dimension angle measurement accuracy detection
It remains pointing to mirror north and south dimension and is directed toward substar position, be directed toward mirror thing dimension in the range of ± 200 ' i.e. ± 3.33 °, with
20 ' be interval, carries out inductosyn angle measurement accuracy test, measuring process is：
1) control is directed toward mirror thing dimension and is directed toward 0 ° of position, enables this point as datum mark θ0=0 °；
2) current inductosyn reading is recorded, theodolite orientation reading is reset；
3) control is directed toward mirror thing dimension and is directed toward θ0- 200 ' position；
4) current inductosyn reading and theodolite orientation reading are recorded；
5) control is directed toward mirror thing dimension and is directed toward θ0- 180 ' position；
6) current inductosyn reading and theodolite orientation reading are recorded；
7) it is interval that control, which is directed toward mirror thing dimension with 20 ', carries out direction θ point by point0-160′、θ0-140′、θ0-120′……
θ0+ 200 ', and the inductosyn reading of each point and theodolite orientation reading are recorded, until θ0+ 200 ' position；
8) step 1) -7 is repeated), it tests altogether three times；
5th step：It adjusts and is directed toward mirror north and south dimension verticality
To reduce measurement error, the verticality for ensureing to be directed toward mirror is needed first, bearing calibration is as follows：
1) mirror thing dimension will be directed toward and is directed toward substar position, and north and south dimension will be placed in -5 °, as the starting point of test, by longitude and latitude
Mirror is directed toward in instrument alignment, reads theodolite current location reading
2) control is directed toward 10 ° of mirror north and south dimension rotation to+5 ° of positions, reads theodolite current location reading
3) compare the difference of reading twice in pitch orientation, if difference is more than 3 ", it is adjusted under tooling using gasket
It is whole
4) step 1) -3 is repeated), until when orientation reading differs 10 °, pitching reading is less than 3 "
6th step：North and south dimension angle measurement accuracy detection
It remains pointing to mirror thing dimension and is directed toward substar position, be directed toward mirror north and south dimension in the range of ± 320 ' i.e. ± 5.33 °, with
20 ' be interval, carries out inductosyn angle measurement accuracy test, measuring process is：
1) control is directed toward mirror north and south dimension and is directed toward 0 ° of position, enables this point as datum mark θ0=0 °；
2) current inductosyn reading is recorded, theodolite orientation reading is reset；
3) control is directed toward mirror north and south dimension and is directed toward θ0- 320 ' position；
4) current inductosyn reading and theodolite orientation reading are recorded；
5) control is directed toward mirror north and south dimension and is directed toward θ0- 300 ' position；
6) current inductosyn reading and theodolite orientation reading are recorded；
7) it is interval that control, which is directed toward mirror north and south dimension with 20 ', carries out direction θ point by point0-280′、θ0-260′、θ0-240′……
θ0+ 320 ', and the inductosyn reading of each point and theodolite orientation reading are recorded, until θ0+ 320 ' position；
8) step 1) -7 is repeated), it tests altogether three times；
7th step：Data process＆analysis
The computational methods of angle measurement accuracy are：
1) during datum mark, theodolite orientation reading is 0 °, inductosyn reading E0.
2) in the range of being directed toward, theodolite orientation reading θ n, inductosyn reading En.
3) transit survey corner (actual value)：Δ θ n=θ n-0 °
4) inductosyn measures corner (measured value)：Δ En=En-E0
5) inductosyn measures the deviation of corner and transit survey corner, and calculation formula is An '=Δ En*0.11-
Δ θ n, wherein 1 code word of inductosyn reading are equal to 0.11 rad.
6) the average value An of angle measurement deviation An ' measured three times is calculated.
1 thing of table ties up measurement accuracy datum mark：Substar (θ0=0 °)；Datum mark code word：574718.28
Tie up measurement accuracy datum mark in 2 north and south of table：Substar (θ0=0 °)；Datum mark code word：11274112.44
It is 0.9 that summary data, which obtain two-dimensional pointing mechanism thing dimension angle measurement accuracy, "；Tie up angle measurement accuracy in north and south
0.9 ", " requirement of (3 σ) that meets index 2.5.
Claims (1)
1. a kind of spaceborne two-dimensional pointing mechanism angle measurement accuracy detection device, including theodolite (8), theodolite fixing tool (9), big
Box (3), scanning are put before reason stone platform (4), inductosyn with being directed toward control circuit case (5), directing mechanism fixing tool (2), south
North dimension angle measurement tooling (10), thing dimension angle measurement tooling (11), regulated power supply (7), data acquisition and processing (DAP) computer (6), it is special
Sign is：
Described theodolite (8) angle measurement accuracy 0.5 "；Dali Shitai County (4) flatness is 0 grade or more；Directing mechanism fixing tool is used
In fixed directing mechanism, mounting plane degree is better than 0.02mm；Theodolite fixing tool (9) is for fixing theodolite, mounting plane
Degree is better than 0.02mm；North and south dimension angle measurement tooling (10) and thing tie up angle measurement tooling (11) for adjusting the measurement of two-dimensional pointing mechanism
The verticality of axis and horizontal plane, mounting plane degree are better than 0.02mm；Regulated power supply (7) is 28V voltage outputs, exports maximum current
3A, for being powered with being directed toward control circuit case to putting box and scanning before inductosyn；Box (3) is put before inductosyn for reality
When acquire bidimensional angle information, angular sampling frequency 50KHz, angle measurement stability be better than 0.3 rad；Two-dimensional pointing mechanism (1) and
Scanning is directed toward control circuit case (5) and collectively constitutes two-dimensional pointing mechanism control system, is directed toward control accuracy and is better than 0.5 rad；Number
It is used to show according to the angle information for acquiring and handling computer (6) acquisition inductosyn；
The detection device is laid out as follows：
1) thing dimension angle-measuring equipment layout：
Directing mechanism (1) is installed on directing mechanism fixing tool (2), is then attached in thing dimension angle measurement tooling (11), is put
It is positioned in the Shitai County of Dali on Dali Shitai County (4), putting box (3) before inductosyn, connection directing mechanism (1) is synchronous with sensing
The cable between box (3) is put before device, box (3) and scanning are put before connecting inductosyn and is directed toward between control circuit case (5)
Cable, connection regulated power supply (7) and scanning and the cable being directed toward between control circuit case (5), connection scanning is with being directed toward control electricity
Cable between road case (5) and data acquisition and processing computer (6), theodolite (8) are fixed on theodolite fixing tool (9)；
2) north and south dimension angle-measuring equipment layout
Directing mechanism (1) is installed on directing mechanism fixing tool (2), is then attached in north and south dimension angle measurement tooling (10), is put
It is positioned in the Shitai County of Dali on Dali Shitai County (4), putting box (3) before inductosyn, connection directing mechanism (1) is synchronous with sensing
The cable between box (3) is put before device, box (3) and scanning are put before connecting inductosyn and is directed toward between control circuit case (5)
Cable, connection regulated power supply (7) and scanning and the cable being directed toward between control circuit case (5), connection scanning is with being directed toward control electricity
Cable between road case (5) and data acquisition and processing computer (6), theodolite (8) are fixed on theodolite fixing tool (9).
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107664510A (en) * | 2017-08-30 | 2018-02-06 | 中国科学院上海技术物理研究所 | A kind of spaceborne two-dimensional pointing mechanism angle measurement accuracy detection means and implementation method |
| CN109211273A (en) * | 2018-09-28 | 2019-01-15 | 北京控制工程研究所 | A kind of star sensor optical axis derivation mechanism calibration method |
| CN116878543A (en) * | 2023-09-06 | 2023-10-13 | 中国科学院长春光学精密机械与物理研究所 | Measuring system and measuring method for installation reference of inclination sensor of photoelectric theodolite |
-
2017
- 2017-08-30 CN CN201721095030.0U patent/CN207528248U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107664510A (en) * | 2017-08-30 | 2018-02-06 | 中国科学院上海技术物理研究所 | A kind of spaceborne two-dimensional pointing mechanism angle measurement accuracy detection means and implementation method |
| CN109211273A (en) * | 2018-09-28 | 2019-01-15 | 北京控制工程研究所 | A kind of star sensor optical axis derivation mechanism calibration method |
| CN116878543A (en) * | 2023-09-06 | 2023-10-13 | 中国科学院长春光学精密机械与物理研究所 | Measuring system and measuring method for installation reference of inclination sensor of photoelectric theodolite |
| CN116878543B (en) * | 2023-09-06 | 2023-11-28 | 中国科学院长春光学精密机械与物理研究所 | Measuring system and measuring method for installation reference of inclination sensor of photoelectric theodolite |
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