CN109186639B - High-precision attitude change amount measuring method - Google Patents
High-precision attitude change amount measuring method Download PDFInfo
- Publication number
- CN109186639B CN109186639B CN201811268599.1A CN201811268599A CN109186639B CN 109186639 B CN109186639 B CN 109186639B CN 201811268599 A CN201811268599 A CN 201811268599A CN 109186639 B CN109186639 B CN 109186639B
- Authority
- CN
- China
- Prior art keywords
- theodolite
- auto
- collimation
- buffer base
- plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Testing Of Balance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a high-precision attitude change measuring method, which is mainly different from the traditional two-theodolite method in that: and introducing a third theodolite as an azimuth measurement reference and a focal length reference, and checking the orthogonality of the two reference mirrors as an accuracy inspection means. The measuring method can improve the repeatability of the reset precision measurement of the buffer base, enables the measuring precision to meet the standard requirement, and is suitable for popularization and application.
Description
Technical Field
The invention relates to the technical field of impact resistance of a ship inertial navigation system, in particular to a high-precision attitude change measurement method.
Background
With the popularization of new-version national military standards and the continuous improvement of equipment performance requirements of users, the shock resistance becomes a threshold which must be stepped by carrier-based equipment. The inertial navigation equipment is used as an important component of a navigation system, the requirement on the impact resistance of the inertial navigation equipment is higher, and besides no fault of the equipment, the accuracy of course and attitude output is also ensured. This requires that the shock-resistant cushioning base for the inertial platform have extremely high resetting accuracy, i.e., the attitude change before and after impact is less than 30 ".
In order to verify the resetting precision of the buffer base before and after impact, a two-theodolite method is generally used (as shown in fig. 1, 1 is the buffer base, and a, b, c and d are glass plane mirrors arranged on the buffer base, wherein a and b are left and right directions, c and d are fore and aft directions, and Y, Z is a theodolite). The method comprises the steps of arranging an optical hexahedron or two orthogonal plane mirrors on the upper plate and the lower plate of the buffer base respectively, measuring the spatial postures of the upper plate and the lower plate by using an auto-collimation theodolite before an impact test, calculating a posture difference value, retesting the spatial postures of the upper plate and the lower plate after the impact test, calculating the difference value, comparing the difference value with the posture difference value before the impact test, wherein the variable quantity is the reset precision of the buffer base. However, the measured resetting precision repeatability is found to be poor in experiments, the requirement of measuring precision cannot be met, and improvement is needed.
Disclosure of Invention
The invention aims to make up for the defects of the prior art and provides a high-precision attitude change quantity measuring method which can obviously improve the measuring precision and repeatability.
The purpose of the invention is realized by the following technical means:
a high-precision attitude variation measuring method comprises the following steps:
a) mounting two plane reflectors on the lateral vertical surfaces of the fore-aft direction and the lateral direction of the bottom plate of the buffer base, wherein the normal lines of the two plane reflectors are orthogonal; referring to a bottom plate of the buffer base, two plane reflectors are arranged at the same position of a top plate of the buffer base, and the normal lines of the two plane reflectors are orthogonal;
b) placing a buffer base on a leveling flat plate or a jack, sequentially aiming two orthogonal mirror surfaces at the bottom of the buffer base by using an auto-collimation theodolite, wherein the auto-collimation theodolite is a first auto-collimation theodolite, leveling the buffer base according to the horizontal reading of the auto-collimation theodolite, and measuring and recording the horizontal inclination angle of the normal lines of the two mirror surfaces;
c) erecting a first auto-collimation theodolite at the head and tail directions of a buffer base, and aiming at a plane reflector of a bottom plate; a second autocollimation theodolite is erected at a position which can be mutually aimed at the first theodolite and can be aligned with the lateral plane reflecting mirror of the bottom plate, and after the position is determined, a mark is arranged on the ground to ensure that the equipment can be used at a fixed point;
d) erecting a third auto-collimation theodolite beyond five meters away from the two auto-collimation theodolites as an angle measurement reference, and mutually aiming the first auto-collimation theodolite and the second auto-collimation theodolite for measurement with the third auto-collimation theodolite in sequence to finish coordinate system alignment; a third autocollimation theodolite is used as a focal length reference in the mutual aiming process, and the focal length cannot be adjusted in the measuring process; when the autocollimation theodolite is mutually aimed, firstly, the autocollimation theodolite is aimed at a planchette in a target theodolite in a telescope state, and the alignment of the axis of a light path is ensured;
e) the first and second autocollimation theodolites respectively measure a bottom plate plane reflector and a top plate plane reflector in respective directions, and the autocollimation theodolites need to be erected again due to the height difference of the plane reflectors of the top plate and the bottom plate, and need to be mutually aimed with a third autocollimation theodolite after being erected, so as to finish coordinate system alignment and focal length alignment;
f) after the autocollimation theodolites are mutually aimed, the first autocollimation theodolite and the second autocollimation theodolite are used for reading data in a forward direction and a backward direction twice when aiming at the mirror surface and then calculating an average value to eliminate instrument errors;
g) in the measuring process, the measurement repetition precision is checked according to whether the measured values of the two orthogonal mirror surfaces at the bottom of the device are matched with the initial measured values.
In step a), the orthogonal error of the normal lines of the two planes of the two plane reflectors arranged on the bottom plate of the buffer base is less than 10'; the normal orthogonality error of two surfaces of two plane reflectors installed on the top plate of the buffer base is less than 10'.
The invention has the advantages and positive effects that:
1. the main difference between the measuring method of the invention and the traditional two-longitude-latitude method is that:
a) introducing a third theodolite as an azimuth measurement reference and a focal length reference
A third theodolite is erected at a position far away from the test equipment to serve as a reference, the position and the focal length of the third theodolite are fixed and unchanged, and the third theodolite is not repeatedly erected in the measurement process, so that the artificial estimation error caused by multiple cross aiming of the theodolite can be reduced, and the measurement error caused by focal length adjustment can be eliminated; in the measurement, two measurement theodolites align with a third theodolite, so that the measurement data are all values in the same coordinate system, the comparability of the measurement data is improved, and the measurement precision and the convenience are obviously improved.
b) Using the orthogonality of two reference mirrors as the precision inspection means
And (3) aiming two orthogonal mirror surfaces at the bottom of the tested equipment by using the auto-collimation theodolite, leveling the equipment according to the horizontal index, and measuring and recording the normal included angle of the two mirror surfaces. In the subsequent measurement, the measured value of the normal included angle of the two mirror surfaces is periodically checked, if a large change occurs, whether the installation of the reference mirror is reliable or not is checked, the measurement repeatability is checked, and the reliability inspection in the measurement process is realized.
2. The invention is a high-precision attitude change measuring method with scientific design and easy operation, which can improve the repeatability of the reset precision measurement of the buffer base by introducing a third theodolite as an azimuth measuring reference and a focal length reference and adopting the orthogonality of two reference mirrors as a precision testing means, so that the measuring precision reaches the standard requirement, the accuracy of the measuring result is ensured, accurate reference data is provided for the mass of inertial navigation equipment, and the method is suitable for popularization and application.
Drawings
FIG. 1 is a schematic diagram of a prior art two theodolite method;
fig. 2 is a schematic diagram of the improved measurement method.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings, which are intended to be illustrative, not limiting, and not limiting.
A high-precision attitude variation measuring method comprises the following steps:
a) two plane reflectors are arranged on the lateral side elevation and the fore-aft direction of the bottom plate of the buffer base, and the normals of the two plane reflectors are orthogonal (the error is less than 10 "); referring to a bottom plate of the buffer base, two plane reflectors are arranged at the same position of a top plate of the buffer base, and the normals of the two plane reflectors are orthogonal (the error is less than 10 ");
b) arranging a plurality of uniformly distributed jacks on a levelable flat plate or a jack, sequentially aiming two orthogonal mirror surfaces at the bottom of the buffer base by using an auto-collimation theodolite, wherein the auto-collimation theodolite is a first auto-collimation theodolite, leveling the buffer base according to the horizontal reading of the auto-collimation theodolite, and measuring and recording the horizontal inclination angle of the normal lines of the two mirror surfaces;
c) erecting a first auto-collimation theodolite at the head and tail directions of a buffer base, and aiming at a plane reflector of a bottom plate; a second autocollimation theodolite is erected at a position which can be mutually aimed at the first theodolite and can be aligned with the lateral plane reflecting mirror of the bottom plate, and after the position is determined, a mark is arranged on the ground to ensure that the equipment can be used at a fixed point;
d) erecting a third auto-collimation theodolite beyond five meters away from the two auto-collimation theodolites as an angle measurement reference, and mutually aiming the first auto-collimation theodolite and the second auto-collimation theodolite for measurement with the third auto-collimation theodolite in sequence to finish coordinate system alignment; a third autocollimation theodolite is used as a focal length reference in the mutual aiming process, and the focal length cannot be adjusted in the measuring process; when the autocollimation theodolite is mutually aimed, firstly, the autocollimation theodolite is aimed at a planchette in a target theodolite in a telescope state, and the alignment of the axis of a light path is ensured;
e) the first and second autocollimation theodolites respectively measure a bottom plate plane reflector and a top plate plane reflector in respective directions, and the autocollimation theodolites need to be erected again due to the height difference of the plane reflectors of the top plate and the bottom plate, and need to be mutually aimed with a third autocollimation theodolite after being erected, so as to finish coordinate system alignment and focal length alignment;
f) after the autocollimation theodolites are mutually aimed, the first autocollimation theodolite and the second autocollimation theodolite are used for reading data in a forward direction and a backward direction twice when aiming at the mirror surface and then calculating an average value to eliminate instrument errors;
g) in the measuring process, the measurement repetition precision is checked according to whether the measured values of the two orthogonal mirror surfaces at the bottom of the device are matched with the initial measured values.
In this embodiment, three autocollimation theodolites should be placed with attention to: the height of the theodolite aligned with the plane mirror depends on the position of the plane mirror, and the distance between the theodolite and the equipment is not required; the third theodolite is far away from the first theodolite as long as the third theodolite can aim at the two theodolites mutually, so that the measurement accuracy is improved.
The measurement method is specifically described below with reference to fig. 2:
in the figure, a, b, c and d are glass plane mirrors arranged on a buffer base, wherein a and b are in left and right directions, and c and d are in fore-aft directions; x, Y, Z is theodolite, X theodolite is used as reference equipment (equivalent to a third autocollimation theodolite) and provides reference course and reference focal length for Y, Z theodolite, Y theodolite measures the numerical value of left and right direction, including a and b glass plane mirrors, Z theodolite measures the numerical value of fore and aft direction, including c and d glass plane mirrors; h. j and k are jacks for leveling the buffer base.
In 2017, from 27 days 4 months to 30 days, impact tests of two sets of buffer bases (numbers: 707-HC-4C1-70-001, 707-HC-4C2-03-001) were carried out in the Tianjin electrical technology research institute. The purpose of the test is to examine the attitude angle resetting precision and the buffering efficiency of the buffering base (with 80Kg load) after the impact test.
The test used the improved measurement to measure the reset accuracy, with no more than 8 "errors measured twice for the buffer base numbered 707-HC-4C1-70-001 and no more than 5" errors measured twice for the buffer base numbered 707-HC-4C 2-03-001. The measurement precision is obviously improved, and the experimental requirement can be met.
Claims (2)
1. A high-precision attitude variation measuring method comprises the following steps:
a) mounting two plane reflectors on the lateral vertical surfaces of the fore-aft direction and the lateral direction of the bottom plate of the buffer base, wherein the normal lines of the two plane reflectors are orthogonal; referring to a bottom plate of the buffer base, two plane reflectors are arranged at the same position of a top plate of the buffer base, and the normal lines of the two plane reflectors are orthogonal;
b) placing a buffer base on a leveling flat plate or a jack, sequentially aligning two orthogonal mirror surfaces at the bottom of the buffer base by using an auto-collimation theodolite, wherein the auto-collimation theodolite is a first auto-collimation theodolite, leveling the buffer base according to the horizontal reading of the first auto-collimation theodolite, and measuring and recording the horizontal inclination angle of the normal lines of the two mirror surfaces;
c) erecting a first auto-collimation theodolite at the head and tail directions of a buffer base, and aiming at a plane reflector of a bottom plate; a second autocollimation theodolite is erected at a position which can be mutually aimed at the first theodolite and can be aligned with the lateral plane reflecting mirror of the bottom plate, and after the position is determined, a mark is arranged on the ground to ensure that the equipment can be used at a fixed point;
d) erecting a third auto-collimation theodolite beyond five meters away from the two auto-collimation theodolites as an angle measurement reference, and mutually aiming the first auto-collimation theodolite and the second auto-collimation theodolite for measurement with the third auto-collimation theodolite in sequence to finish coordinate system alignment; a third autocollimation theodolite is used as a focal length reference in the mutual aiming process, and the focal length cannot be adjusted in the measuring process; when the autocollimation theodolite is used for mutually aiming, firstly, the target in the target theodolite is aimed at in a telescope state, and the alignment of the axis of a light path is ensured;
e) the first auto-collimation theodolite and the second auto-collimation theodolite are used for measuring a bottom plate plane reflector and a top plate plane reflector in respective directions respectively, and because the plane reflectors of the top plate and the bottom plate have height difference, the first auto-collimation theodolite and the second auto-collimation theodolite are required to be erected again and are required to be aimed at each other with a third auto-collimation theodolite after being erected, and coordinate system alignment and focal length alignment are completed;
f) after the autocollimation theodolites are mutually aimed, the first autocollimation theodolite and the second autocollimation theodolite are used for reading data in a forward direction and a backward direction twice when aiming at the mirror surface and then calculating an average value to eliminate instrument errors;
g) in the measuring process, the measurement repetition precision is checked according to whether the measured values of the two orthogonal mirror surfaces at the bottom of the device are matched with the initial measured values.
2. A high-precision attitude change amount measuring method according to claim 1, characterized in that: in the step a), the orthogonal error of the normal lines of two surfaces of two plane reflectors arranged on the bottom plate of the buffer base is less than 10'; the normal orthogonality error of two surfaces of two plane reflectors installed on the top plate of the buffer base is less than 10'.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811268599.1A CN109186639B (en) | 2018-10-29 | 2018-10-29 | High-precision attitude change amount measuring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811268599.1A CN109186639B (en) | 2018-10-29 | 2018-10-29 | High-precision attitude change amount measuring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109186639A CN109186639A (en) | 2019-01-11 |
| CN109186639B true CN109186639B (en) | 2022-04-12 |
Family
ID=64944292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811268599.1A Active CN109186639B (en) | 2018-10-29 | 2018-10-29 | High-precision attitude change amount measuring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109186639B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114235004B (en) * | 2021-11-16 | 2023-08-08 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Atomic gyroscope axial azimuth angle measuring device and method based on double theodolites |
| CN115046527B (en) * | 2022-06-01 | 2024-05-31 | 北京卫星制造厂有限公司 | Precision testing system and method for attitude adjustment of solar wing simulation wall |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1764013A (en) * | 2005-10-21 | 2006-04-26 | 西安电子科技大学 | Measurement and Installation Adjustment Method of Large High Precision Spherical Antenna Panel |
| CN101726289A (en) * | 2009-12-23 | 2010-06-09 | 王鹏飞 | Leveling instrument for rapidly and automatically leveling |
| CN102032918A (en) * | 2010-10-20 | 2011-04-27 | 郑州辰维科技股份有限公司 | Method for calibrating direction of three-probe start sensor |
| CN102087163A (en) * | 2009-12-04 | 2011-06-08 | 中国船舶重工集团公司第七○七研究所 | Method and device for leading out direction of turning spindle axis of high-precision swing bench |
| CN102692238A (en) * | 2012-06-12 | 2012-09-26 | 中国人民解放军92537部队 | Reset precision detection method of ship inertia navigated impact isolator |
| CN102706361A (en) * | 2012-05-18 | 2012-10-03 | 中国人民解放军92537部队 | Attitude precision estimation method of multiple high-accuracy inertial navigations system |
| CN103017725A (en) * | 2012-12-07 | 2013-04-03 | 河北汉光重工有限责任公司 | Optical test method for return precision after impact test of mechanical buffer |
| CN106524992A (en) * | 2016-12-08 | 2017-03-22 | 上海卫星装备研究所 | High precision angle measurement system and method for spacecraft |
| CN107121124A (en) * | 2017-05-19 | 2017-09-01 | 上海宇航系统工程研究所 | A kind of mechanical pointing accuracy method for fast measuring of satellite antenna |
| CN107121123A (en) * | 2017-05-18 | 2017-09-01 | 上海卫星工程研究所 | Satellite precision unit measuring method |
| CN107967700A (en) * | 2017-12-01 | 2018-04-27 | 北京控制工程研究所 | The in-orbit geometric correction of the wide working distance binocular camera of big visual field and precision test method |
| CN108413897A (en) * | 2018-03-08 | 2018-08-17 | 长春理工大学 | A kind of the target angle caliberating device and method of infrared target simulator |
-
2018
- 2018-10-29 CN CN201811268599.1A patent/CN109186639B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1764013A (en) * | 2005-10-21 | 2006-04-26 | 西安电子科技大学 | Measurement and Installation Adjustment Method of Large High Precision Spherical Antenna Panel |
| CN102087163A (en) * | 2009-12-04 | 2011-06-08 | 中国船舶重工集团公司第七○七研究所 | Method and device for leading out direction of turning spindle axis of high-precision swing bench |
| CN101726289A (en) * | 2009-12-23 | 2010-06-09 | 王鹏飞 | Leveling instrument for rapidly and automatically leveling |
| CN102032918A (en) * | 2010-10-20 | 2011-04-27 | 郑州辰维科技股份有限公司 | Method for calibrating direction of three-probe start sensor |
| CN102706361A (en) * | 2012-05-18 | 2012-10-03 | 中国人民解放军92537部队 | Attitude precision estimation method of multiple high-accuracy inertial navigations system |
| CN102692238A (en) * | 2012-06-12 | 2012-09-26 | 中国人民解放军92537部队 | Reset precision detection method of ship inertia navigated impact isolator |
| CN103017725A (en) * | 2012-12-07 | 2013-04-03 | 河北汉光重工有限责任公司 | Optical test method for return precision after impact test of mechanical buffer |
| CN106524992A (en) * | 2016-12-08 | 2017-03-22 | 上海卫星装备研究所 | High precision angle measurement system and method for spacecraft |
| CN107121123A (en) * | 2017-05-18 | 2017-09-01 | 上海卫星工程研究所 | Satellite precision unit measuring method |
| CN107121124A (en) * | 2017-05-19 | 2017-09-01 | 上海宇航系统工程研究所 | A kind of mechanical pointing accuracy method for fast measuring of satellite antenna |
| CN107967700A (en) * | 2017-12-01 | 2018-04-27 | 北京控制工程研究所 | The in-orbit geometric correction of the wide working distance binocular camera of big visual field and precision test method |
| CN108413897A (en) * | 2018-03-08 | 2018-08-17 | 长春理工大学 | A kind of the target angle caliberating device and method of infrared target simulator |
Non-Patent Citations (2)
| Title |
|---|
| 基于自准直的立方镜姿态测量方法研究;杨振等;《宇航计测技术》;20100430;第30卷(第2期);第14-17,29页 * |
| 惯性平台姿态在高精度摇摆台上的标校方法;孟士超等;《中国惯性技术学报》;20090430;第17卷(第2期);第250-252页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109186639A (en) | 2019-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108981754B (en) | Method for zero alignment of mounting angles of photoelectric platform and carrier | |
| CN105651166B (en) | Spacecraft product final assemble accuracy measurement method based on workpiece coordinate system | |
| CN110940354B (en) | Calibration method for strapdown inertial navigation installation attitude of photoelectric tracking system | |
| CN105716593B (en) | A kind of test device and method of testing for electro optical reconnaissance system direction and location accuracy test | |
| CN106403990B (en) | A kind of light axis consistency caliberating device | |
| CN109186639B (en) | High-precision attitude change amount measuring method | |
| CN114722455B (en) | Three-dimensional engineering control network construction method combining total station and laser tracker | |
| CN105510000B (en) | Optical laying demarcation detection method | |
| CN102927993A (en) | vertical transfer indoor optical reference calibration system | |
| CN110313236B (en) | The calibration method of airplane inertial navigation installation calibration apparatus based on gyroscope north searching instrument | |
| CN114577448B (en) | Double-optical-axis calibration method of novel portable optical-axis calibration target adaptation device | |
| CN203857967U (en) | Initial posture field calibration system of combined guidance system | |
| CN102692238B (en) | Reset precision detection method of ship inertia navigated impact isolator | |
| CN109374260B (en) | Calibration system and calibration method for double collimation zero included angle of optical transmission device | |
| CN106247998A (en) | A kind of laser axis and the calibration method of reflecting mirror normal parallel | |
| CN205482980U (en) | Optical sighting is with maring detection device | |
| CN110779503B (en) | A three-dimensional precision control net measurement method | |
| CN105526950A (en) | Calibration detection device for optical sighting | |
| CN207636023U (en) | Cube-corner prism retroreflective light spot positioning accuracy detection device | |
| CN111412930B (en) | Calibration operation method for installation error of combined attitude measurement device | |
| CN117029684A (en) | Wide-range high-precision space assembly position absolute coordinate measurement system and measurement method | |
| CN113671468B (en) | Laser ranging precision calibration method and system | |
| CN109405853A (en) | Star sensor integration calibrating installation and method | |
| CN116224283A (en) | Rapid laser calibration system and calibration method for motor-driven platform optical system | |
| CN114812520A (en) | Method and system for setting and measuring three-dimensional control network for high-speed magnetic levitation track installation measurement and control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |