CN101556150A - Method for correcting installation position of angular position sensor - Google Patents
Method for correcting installation position of angular position sensor Download PDFInfo
- Publication number
- CN101556150A CN101556150A CNA2009100506563A CN200910050656A CN101556150A CN 101556150 A CN101556150 A CN 101556150A CN A2009100506563 A CNA2009100506563 A CN A2009100506563A CN 200910050656 A CN200910050656 A CN 200910050656A CN 101556150 A CN101556150 A CN 101556150A
- Authority
- CN
- China
- Prior art keywords
- angle
- drift angle
- plane
- measurement plane
- sin
- 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.)
- Pending
Links
Images
Landscapes
- Gyroscopes (AREA)
Abstract
The invention provides a method for correcting the installation position of an angular position sensor, and provides a method for correcting installation precision errors and vibration errors of the position of the sensor. By a method for information integration, a plurality of angular position sensors can be integrated via data to obtain an angular signal with higher precision and reliability.
Description
Technical field
The present invention relates to a kind of method for correcting installation position of angular position sensor, can obtain the angle signal of degree of precision and reliability, belong to the detection detection range.
Background technology
Angular transducer extracts the position signalling of detection faces, and is translated into voltage signal.But,, utilize angular transducer can not detect the angle signal of high precision and high reliability simply because installation accuracy and operational shock cause odjective causes such as angular transducer position subtle change.
The present invention is directed to the installation accuracy sum of errors vibration error of angular transducer position, proposed a kind of method for correcting position of angle sensor,, obtain the angle signal of degree of precision and high reliability through data fusion by a plurality of angular transducers by information fusion method.
Summary of the invention
The purpose of this invention is to provide a kind of method for correcting position of angle sensor,, obtain the angle signal of degree of precision and reliability through data fusion by a plurality of angular transducers by information fusion method.
For realizing above purpose, this technical scheme is:
In conjunction with the accompanying drawings, the setting tapered plane is a measurement plane, and CO is the axis of required mensuration on the measurement plane, obliquity sensor detection plane parallel with measurement plane (contact), and BO is that real sensor is measured axis, the angle of two axial lines is ∠ 4; BO is vertical with BC, and is two coordinate axis of obliquity sensor detection plane; Point b is the projection of some B on surface level, and some c is the projection of some C on surface level; Obviously, actual angle is the angle ∠ 1 of CO and cO, and obliquity sensor records the angle ∠ 2 of BO and bO and the angle ∠ 3 of BC and bc, wherein bc and BP coplanar;
If Bb=1
So
BO＝1/sin∠2
BC＝BO×tan∠4
BC＝tan∠4/sin∠2
CO＝BO/cos∠4
CO＝1/(sin∠2×cos∠4)
CP＝BC×sin∠3
CP＝sin∠3×tan∠4/sin∠2
So
sin∠1＝(CP+Pc)/CO
sin∠1＝(CP+Bb)/CO
sin∠1＝(sin∠3×tan∠4/sin∠2+1)×sin∠2×cos∠4
sin∠1＝sin∠3×sin∠4+sin∠2×cos∠4 (1)
Obviously, because the existence of drift angle ∠ 4 is measured ∠ 2 merely and can not truly be reflected ∠ 1.If between ∠ 2 and the ∠ 1 is linear relationship, the error that exists drift angle ∠ 4 to cause is also insignificant, is non-linear between crucial ∠ 2 and the ∠ 1.
When angular transducer when fixed form is fixed on the measurement plane preferably, can realize parallel on angular transducer detection plane and the measurement plane engineering significance, even inevitably produce drift angle ∠ 4 when installing, the variation range of ∠ 4 also is less relatively, and by online position probing, guarantee that ∠ 4 can promptly can be considered fixed value within error range.
So, by mensuration ∠ 4, and real-time online mensuration ∠ that obliquity sensor is surveyed 2 and ∠ 3, according to formula (1), can calculate accurate ∠ 1.
After a period of time is demarcated in ∠ 4 accurate verifications in drift angle, may be because factors such as vibration cause the variation of drift angle ∠ 4.Therefore, need the drift angle property verified, non real-time online detection.
The method that detects ∠ 4 is as follows:
Installation site, some positions detecting device in angular transducer spatial movement scope, when certain position detector triggered, the expression measurement plane was positioned at certain specific location, and this moment, ∠ 1 was known;
According to formula (1), as can be known
∠4＝F(∠1，∠2，∠3)
Be that ∠ 4 is ∠ 1, ∠ 2, the function of ∠ 3, and therefore, when ∠ 1 is known, by measuring ∠ 2, ∠ 3 can calculate drift angle ∠ 4;
The drift angle ∠ 4 that obtains when the detection checking computations surpasses the declination error scope, and then alarm need inspect by ready samples again, proofread and correct; Otherwise, think that drift angle ∠ 4 is in the right value scope.
Description of drawings
Accompanying drawing is the method principle schematic, and wherein tapered plane is a measurement plane, and CO is the axis of required mensuration on the measurement plane, obliquity sensor detection plane parallel with measurement plane (contact), and BO is that real sensor is measured axis, the angle of two axial lines is ∠ 4; BO is vertical with BC, and is two coordinate axis of obliquity sensor detection plane; Point b is the projection of some B on surface level, and some c is the projection of some C on surface level; Obviously, actual angle is the angle ∠ 1 of CO and cO, and obliquity sensor records the angle ∠ 2 of BO and bO and the angle ∠ 3 of BC and bc, wherein bc and BP coplanar.
Embodiment
The present invention is described further below in conjunction with accompanying drawing:
When angular transducer when fixed form is fixed on the measurement plane preferably, can realize parallelly on angular transducer detection plane and the measurement plane engineering significance, by online location position, guarantee that ∠ 4 can promptly can be considered fixed value within error range; By mensuration drift angle ∠ 4, and real-time online mensuration ∠ that obliquity sensor is surveyed 2 and ∠ 3, according to formula (1), can calculate accurate ∠ 1.
The method that wherein detects ∠ 4 is as follows:
Installation site, some positions detecting device in angular transducer spatial movement scope, when certain position detector triggered, the expression measurement plane was positioned at certain specific location, and this moment, ∠ 1 was known;
According to formula (1), as can be known
∠4＝F(∠1，∠2，∠3)
Be that ∠ 4 is ∠ 1, ∠ 2, the function of ∠ 3, and therefore, when ∠ 1 is known, by measuring ∠ 2, ∠ 3 can calculate drift angle ∠ 4;
The drift angle value that obtains when the detection checking computations surpasses the declination error scope, and then alarm need inspect by ready samples again, proofread and correct; Otherwise, think that the drift angle value is in the right value scope.
Claims (2)
1, the technical characterictic of method for correcting installation position of angular position sensor:
The setting tapered plane is a measurement plane, CO is the axis of required mensuration on the measurement plane, and axis CO is perpendicular to the intersection of measurement plane and surface level, and the obliquity sensor detection plane is parallel with measurement plane, BO is that real sensor is measured axis, and the angle of two axial lines is ∠ 4; BO is vertical with BC, and is two coordinate axis of obliquity sensor detection plane; Point b is the projection of some B on surface level, and some c is the projection of some C on surface level; Obviously, actual angle is the angle ∠ 1 of CO and cO, and obliquity sensor records the angle ∠ 2 of BO and bO and the angle ∠ 3 of BC and bc, wherein bc and BP coplanar;
When angular transducer when fixed form is fixed on the measurement plane preferably, can realize parallel on angular transducer detection plane and the measurement plane engineering significance, even inevitably produce drift angle ∠ 4 when installing, the variation range of ∠ 4 also is less relatively, and by online position probing, guarantee that ∠ 4 can promptly can be considered fixed value within error range; By mensuration ∠ 4, and real-time online mensuration ∠ that obliquity sensor is surveyed 2 and ∠ 3, according to formula (1),
sin∠1＝sin∠3×sin∠4+sin∠2×cos∠4 (1)
Accurate ∠ 1 can be calculated, the correction of installation position of angular position sensor error can be realized.
2, according to claim item 1 described method for correcting installation position of angular position sensor, its technical characterictic is:
After a period of time is demarcated in ∠ 4 accurate verifications in drift angle, may need the drift angle property verified, non real-time online detection because factors such as vibration cause the variation of drift angle ∠ 4;
The method that detects ∠ 4 is as follows:
Installation site, some positions detecting device in angular transducer spatial movement scope, when certain position detector triggered, the expression measurement plane was positioned at certain specific location, and this moment, ∠ 1 was known;
According to formula (1), ∠ 4=F (∠ 1, and ∠ 2, and ∠ 3) as can be known, promptly ∠ 4 is ∠ 1, ∠ 2, the function of ∠ 3, therefore, when ∠ 1 is known, by measuring ∠ 2, ∠ 3 can calculate drift angle ∠ 4;
The drift angle value that obtains when the detection checking computations surpasses the declination error scope, and then alarm need inspect by ready samples again, proofread and correct; Otherwise, think that drift angle ∠ 4 is in the right value scope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100506563A CN101556150A (en) | 2009-05-06 | 2009-05-06 | Method for correcting installation position of angular position sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100506563A CN101556150A (en) | 2009-05-06 | 2009-05-06 | Method for correcting installation position of angular position sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101556150A true CN101556150A (en) | 2009-10-14 |
Family
ID=41174352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2009100506563A Pending CN101556150A (en) | 2009-05-06 | 2009-05-06 | Method for correcting installation position of angular position sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101556150A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102607599A (en) * | 2012-03-13 | 2012-07-25 | 中联重科股份有限公司 | Engineering machine and inclination angle indicator calibration method and system thereof |
| CN107473092A (en) * | 2017-10-10 | 2017-12-15 | 三海洋重工有限公司 | Suspender swing angle acquisition methods and device, and crane are prevented shaking method and device |
| CN111501895A (en) * | 2020-03-23 | 2020-08-07 | 潍柴动力股份有限公司 | Calibration method, calibration device and calibration system for excavator sensor |
| WO2020186406A1 (en) * | 2019-03-15 | 2020-09-24 | 深圳市大疆创新科技有限公司 | Self-correcting method for mounting angle of sensor, sensor, and mobile device |
-
2009
- 2009-05-06 CN CNA2009100506563A patent/CN101556150A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102607599A (en) * | 2012-03-13 | 2012-07-25 | 中联重科股份有限公司 | Engineering machine and inclination angle indicator calibration method and system thereof |
| CN107473092A (en) * | 2017-10-10 | 2017-12-15 | 三海洋重工有限公司 | Suspender swing angle acquisition methods and device, and crane are prevented shaking method and device |
| CN107473092B (en) * | 2017-10-10 | 2019-06-14 | 三一海洋重工有限公司 | Suspender swing angle acquisition methods and device and crane are prevented shaking method and device |
| WO2020186406A1 (en) * | 2019-03-15 | 2020-09-24 | 深圳市大疆创新科技有限公司 | Self-correcting method for mounting angle of sensor, sensor, and mobile device |
| CN111501895A (en) * | 2020-03-23 | 2020-08-07 | 潍柴动力股份有限公司 | Calibration method, calibration device and calibration system for excavator sensor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105300304B (en) | A kind of dynamic deflection of bridge span detection method of contactless multipoint high-frequency | |
| CN102032921B (en) | Automatic calibration method for inclinometer | |
| CN107218942B (en) | Small-diameter pipeline defect positioning device and positioning method based on fast orthogonal search algorithm | |
| CN201983767U (en) | Bridge deformation detecting system | |
| CN105277129B (en) | A kind of contactless gauge measuring system of laser range sensor dynamic | |
| CN105538313B (en) | A kind of industrial robot laser trace detection means | |
| CN104344818A (en) | Vertical detection device and method | |
| CN104132636A (en) | Linearity detection and judgment method for linear guide rail | |
| US8289528B2 (en) | Tilt sensor for a measuring instrument | |
| CN102003969A (en) | Automatic calibration device for clinometer | |
| CN101556150A (en) | Method for correcting installation position of angular position sensor | |
| CN105717499B (en) | Laser range finder deflects angular measurement and correction system and method | |
| CN105466521A (en) | Method for measuring liquid level of liquid in container | |
| CN204461354U (en) | A kind of range finder using laser system for testing optical axis | |
| CN102706310B (en) | Cantilever crane angle detecting method, device and pump truck with device | |
| CN205785444U (en) | A kind of ultrasonic level gage check system | |
| CN108827190B (en) | High-precision angle measurement error detection device based on double autocollimators and detection method thereof | |
| CN104236523A (en) | Angle detection device and inclined angle sensor with angle detection device | |
| RU2012124994A (en) | CONTROL DEVICE AND METHOD FOR ITS OPERATION | |
| CN105180827A (en) | Device for detecting crane main beam camber curve | |
| CN102873587B (en) | A kind of sectional dimension measuring method of revolving parts | |
| CN203837641U (en) | Measuring tool of X-axial symmetry degree of valve seat hole in valve body | |
| CN2906551Y (en) | Automatic level laser marking measurement instrument | |
| RU83133U1 (en) | SPINDLE ASSEMBLY | |
| CN105203189A (en) | Self-calibration method of fluid flowmeter online detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C57 | Notification of unclear or unknown address | ||
| DD01 | Delivery of document by public notice |
Addressee: Du Xufeng Document name: Notification of Publication of the Application for Invention |
|
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20091014 |