CN103759743A - Azimuth benchmark transmission device for inertia measuring device and azimuth confirming method for inertia measuring device with large inclination angle - Google Patents
Azimuth benchmark transmission device for inertia measuring device and azimuth confirming method for inertia measuring device with large inclination angle Download PDFInfo
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- CN103759743A CN103759743A CN201410044734.XA CN201410044734A CN103759743A CN 103759743 A CN103759743 A CN 103759743A CN 201410044734 A CN201410044734 A CN 201410044734A CN 103759743 A CN103759743 A CN 103759743A
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The invention relates to an azimuth benchmark transmission device for an inertia measuring device and an azimuth confirming method for an inertia measuring device with a large inclination angle. The azimuth benchmark transmission device comprises a structural tool, a right-angle prism component and an fitting fastener; a three-dimensional coordinate system is established by adopting a certain point on the structural tool as an original point, wherein Xb refers to a longitudinal axis, Yb refers to a vertical axis and Zb refers to a latitudinal axis; the structural tool comprises a square columnar body and two waist-shaped holes formed in two ends of the square columnar body respectively; the axial direction of the waist-shaped holes is parallel to the longitudinal axis Xb; a first benchmark plane and a second benchmark plane which are perpendicular are arranged on two side surfaces on the structural tool; the first benchmark plane is parallel to a plane formed by the longitudinal axis Xb and the latitudinal axis Zb; the second benchmark plane is parallel to a plane formed by the latitudinal axis Zb and the vertical axis Yb and opposite to a prism. The azimuth benchmark transmission device and the method solve the technical problems in conventional methods that the manufacture cost of the inertia measuring devices is increased, and errors exist in azimuthal angle seeking. The device and the method provided by the invention can detect the azimuthal accuracy of the inertial measuring device and transmit externally-measured azimuth benchmark information to the inertial measuring device.
Description
Technical field
While the present invention relates to inertial measuring unit azimuth reference transfer device and high spud angle, method is determined in orientation.
Background technology
For detecting the orientation accuracy of inertial measuring unit or transmitting externally measured azimuth reference information to inertial measuring unit, classic method is to embed right-angle prism assembly on every cover product, and it is parallel with inertial measuring unit body coordinate system to adjust right-angle prism assembly, during use, require inertial measuring unit level of approximation to place, set up at a distance high accuracy gyroscope and refer to northern instrument, after adjusting electro-optic theodolite and inertial measuring unit collimation, start to seek north, utilize the northern result of seeking of top compass direct or after Approximate revision as the position angle of inertial measuring unit.Correction formula is:
Ψ
br=Ψc+tan
-1(tan(γ
b)*tan(θc))................（1）
In formula,
Ψ
brfor the north orientation angle " true value " of inertial measuring unit of calculating,
Ψ c is top compass north orientation angular measurement value (north by west for just),
γ
bfor the roll angle of inertial measuring unit,
Transit light pipe elevation angle when θ c is top compass measurement.
The shortcoming of the method, the one, when prism apparatus only detects for Product Precision, it has increased inertial measuring unit manufacturing cost; The 2nd, when inertial measuring unit exists during larger pitch angle, utilize the northern result of seeking of top compass directly as the position angle of inertial measuring unit, or utilize the position angle of correction formula result of calculation as inertial measuring unit, all there is error.For example, work as γ
b=1.0 °, θ
b=1.0 ° (angle of pitch of inertial measuring unit), in the time of θ c=1.0 °, the error of above-mentioned correction formula is about 1 '.
Summary of the invention
In order to solve existing method, increase inertial measuring unit manufacturing cost, find position angle and exist the technical matters of error, when the object of the invention is to provide a kind of inertial measuring unit azimuth reference transfer device and high spud angle, method is determined in orientation, and this device and method can be and detects the orientation accuracy of inertial measuring unit or transmit externally measured azimuth reference information to inertial measuring unit.
Technical solution of the present invention is:
A kind of inertial measuring unit azimuth reference transfer device, its special character is: comprise structure frock, right-angle prism assembly and supporting securing member; Take certain point in structure frock as initial point, set up three-dimensional system of coordinate, wherein longitudinal axis X b, vertical pivot Yb, transverse axis Zb,
Described structure frock comprises flat column body 4, is separately positioned on two mounting holes 5 at flat column body 4 two ends; Described mounting hole axially parallel with longitudinal axis X b; On wherein two sides of described structure frock, be provided with orthogonal the first reference field 6 and the second reference field, the plane parallel that wherein the first reference field 6 and longitudinal axis X b and transverse axis Zb form, the plane parallel that the second reference field forms with transverse axis Zb and vertical pivot Yb and relative with prism.
Described right-angle prism assembly comprises prism frock 2 and right-angle prism 1; Described prism frock is arranged on flat column body 4, the plane parallel that the workplace of described right-angle prism and transverse axis Zb and longitudinal axis X b form; Described right-angle prism 1 is fixed in prism frock 2 by supporting securing member 3.
Said reference face is divided into two parts, is symmetrically distributed in the both sides of structure frock axis.
Above-mentioned prism frock is arranged on the middle part of flat column body 4.
Above-mentioned supporting securing member 3 comprises trip bolt, packing ring and pad.
During a kind of inertial measuring unit high spud angle, method is determined in orientation, comprises the following steps:
1] the second reference field of the reference field of testee and azimuth reference transfer device is close to, adjusts azimuth reference transfer device, make OZ axle parallel with local level, then azimuth reference transfer device and testee are fixed, keep the two static;
2] by top compass, aim at right-angle prism, adjust top compass and right-angle prism collimation;
3] top compass starts to seek north, seeks northern result and is the geographic azimuth that testee longitudinal axis is indicated, and computing formula is:
Ψ
br=Ψc
In formula,
Ψ
brfor the north orientation angle " true value " of inertial measuring unit of calculating;
Ψ c is top compass north orientation angular measurement value, and definition north by west is for just.
During a kind of inertial measuring unit high spud angle, method is determined in orientation, comprises the following steps:
1] testee reference field be close to azimuth reference transfer device and make this testee reference field vertical with OX axle, adjust azimuth reference transfer device, make the first reference field parallel with reference field on testee, then testee and azimuth reference transfer device are fixed, keep the two static;
2] by top compass, aim at right-angle prism, adjust top compass and right-angle prism collimation;
3] top compass starts to seek north, geographic azimuth, the aiming right-angle prism light elevation angle of its aiming right-angle prism light providing are provided, and azimuth reference transfer device trim angle and heeling angle, determine the geographic azimuth that azimuth reference transfer device longitudinal axis is indicated, computing formula is as follows:
Ψ
br=Ψc+sin
-1(tanθ
ctanγ
bcosθ
b-tanγ
bsinθ
b)
In formula,
Ψ
brfor the north orientation angle " true value " of inertial measuring unit of calculating,
Ψ c is top compass north orientation angular measurement value, and definition north by west is being for just,
θ
bfor the angle of pitch of inertial measuring unit,
γ
bfor the roll angle of inertial measuring unit,
Transit light pipe elevation angle when θ c is top compass measurement.
Azimuth reference advantage that transfer device has of the present invention:
1, adopt outlet structure, from inertial measuring unit, depart from, reduced inertial measuring unit cost, be easy to carry, safeguard.
2, have versatility, as long as testee has locating surface, mechanical mounting interface and azimuth reference transfer device match, and can use this device to transmit azimuth reference.
3, azimuth reference transfer device has two orthogonal reference fields and mounting hole, be easy to adjust its ozb axle parallel with local geographical surface level or with testee transverse axis.
4, azimuth reference transfer device increases obliquity sensor, metering circuit, electronics calculating unit, information interactive interface, and after integrated bearing meter calculation method, can produce digitizing attitude and azimuth reference equipment.
The advantage of method is determined in orientation during high spud angle of the present invention:
1, precision is high, adopts accurate mathematical computing method, and its complete computation formula can be eliminated error and the method error that approximate formula is brought.
2, provide two kinds of method of testings, wherein can directly transmit longitudinal axis orientation with geographical surface level parallel mode, without secondary, changed; After can avoiding testee attitude to change with testee parallel mode, again adjust azimuth reference transfer device, save the running time.
Azimuth reference transmission when 3, the method is applicable to testee and has large angle of inclination, the inclination angle of the light pipe elevation angle, azimuth reference transfer device can reach more than 30 °, has increased the scope of application of azimuth reference transfer device.
4, the method changes with azimuth reference transfer device mounting means and position, can use it to be arranged on the multiple directions such as testee longitudinal axis forward and negative sense.
5, the method can not depend on azimuth reference transfer device, when inertial measuring unit uses embedded prism assemblies, and azimuth reference when the method can be determined its high spud angle equally.
Accompanying drawing explanation
Fig. 1 is azimuth reference transfer device structural representation;
Fig. 2 is a kind of schematic diagram of each angular relationship;
Fig. 3 is the another kind of schematic diagram of each angular relationship
Wherein Reference numeral is: 1-right-angle prism, 2-prism frock, the supporting securing member of 3-, 4-flat column body, 5-mounting hole, 6-reference field, the Xb-longitudinal axis, Yb-vertical pivot, Zb-transverse axis.
Embodiment
As shown in Figure 1, a kind of inertial measuring unit azimuth reference transfer device, comprises structure frock, right-angle prism assembly and supporting securing member; In structure frock, set up three-dimensional system of coordinate Xb, Yb, Zb, wherein the initial point of three-dimensional system of coordinate is in structure frock, and structure frock comprises flat column body 4; Structure frock wherein on two sides, be provided with orthogonal reference field, the plane parallel that one of them reference field and longitudinal axis X b and transverse axis Zb form, the plane parallel of another reference field and transverse axis Zb and vertical pivot Yb formation; (the i.e. one side relative with right-angle prism.) right-angle prism assembly comprises prism frock 2 and right-angle prism 1; Prism frock is arranged on flat column body 4, the plane parallel that the workplace of right-angle prism and transverse axis Zb and longitudinal axis X b form; Right-angle prism 1 is fixed in prism frock 2 by supporting securing member 3.
Reference field is divided into two parts, is symmetrically distributed in the both sides of structure frock axis, and the spacing between two parts is a bit larger tham the width of right-angle prism.Prism frock is arranged on the middle part of flat column body 4.Supporting securing member 3 comprises trip bolt, packing ring and pad.
Azimuth reference transfer device, for the geographic azimuth of subsidiary testee, relies on outside reference metrical information, through accurate Calculation, and can be by outside azimuth reference transmission, be converted to the geographic azimuth of testee.
Azimuth reference transfer device is comprised of right-angle prism assembly, structure frock and supporting securing member, by precision machined two high precision reference faces, determine its measuring basis coordinate system (three-dimensional system of coordinate Xb, Yb, Zb), flat column body 4 two ends are provided with mounting hole 5; Mounting hole axially parallel with longitudinal axis X b; The geographic azimuth of the alignment prism light providing by outside, the alignment prism light elevation angle, azimuth reference transfer device trim angle, azimuth reference transfer device heeling angle, through mathematical computations, determine the geographic azimuth of azimuth reference transfer device its longitudinal axis indication in high spud angle situation.
Azimuth reference transfer device structural representation as shown in Figure 1 bottom is reference field, and mounting hole carries out horizontal checkout while tilting for testee, and each angular relationship as shown in Figure 2 and Figure 3.
The key of azimuth reference transfer device is the foundation of right-angle prism assembly and measuring basis coordinate system thereof.The gordian technique of azimuth reference transfer device is to calculate measured axis to azimuthal method when testee exists wide-angle vertical and horizontal to tilt, the different externally measured information needing of method of testing, also difference of azimuth calculation method.
Method of testing one:
1] the second reference field of the reference field of testee and azimuth reference transfer device is close to, adjusts azimuth reference transfer device, make OZ axle parallel with local level, then azimuth reference transfer device and testee are fixed, keep the two static;
2] by high accuracy gyroscope, refer to that northern instrument aims at right-angle prism, adjust high accuracy gyroscope and refer to northern instrument and prism collimation;
3] high accuracy gyroscope refers to that northern instrument starts to seek north, seeks northern result and is the geographic azimuth that testee longitudinal axis is indicated.Computing formula is:
ψbr=ψc
In formula,
Ψ
brfor the north orientation angle " true value " of inertial measuring unit of calculating,
Ψ c is top compass north orientation angular measurement value (north by west for just).
Application testing method is mounting means for the moment, azimuth reference transfer device locating surface and testee longitudinal axis negative sense locating surface are close to, adjust azimuth reference transfer device, make it measure coordinate system parallel with local horizontal geographic coordinate system, then azimuth reference transfer device and testee are fixed, kept the two static.Outside by high accuracy gyroscope, refer to that northern instrument aims at right-angle prism, adjust its with prism collimation after start to seek north, high accuracy gyroscope refers to that northern instrument seeks northern result and be the geographic azimuth that testee longitudinal axis is indicated.
Method of testing two:
Test process and method one are basic identical, difference is that method two requirement azimuth reference transfer device measurement coordinate system is parallel with testee coordinate system, and geographic azimuth, the alignment prism light elevation angle, azimuth reference transfer device trim angle, the azimuth reference transfer device heeling angle of alignment prism light need to be provided while calculating testee longitudinal axis geographic azimuth geographic azimuth.Concrete steps are as follows:
1] testee reference field be close to azimuth reference transfer device and make this testee reference field vertical with OX axle, adjust azimuth reference transfer device, make the first reference field parallel with reference field on testee, then testee and azimuth reference transfer device are fixed, keep the two static.Wherein testee reference field is mutually vertical with reference field on testee;
2] by top compass, aim at right-angle prism, adjust top compass and right-angle prism collimation;
3] top compass starts to seek north, geographic azimuth, the aiming right-angle prism light elevation angle of its aiming right-angle prism light providing are provided, and azimuth reference transfer device trim angle, azimuth reference transfer device heeling angle, the geographic azimuth of determining the indication of azimuth reference transfer device longitudinal axis, computing formula is as follows:
Ψ
br=Ψc+sin
-1(tanθ
ctanγ
bcosθ
b-tanγ
bsinθ
b)
In formula,
Ψ
brfor the north orientation angle " true value " of inertial measuring unit of calculating,
Ψ c is top compass north orientation angular measurement value, and definition north by west is being for just,
θ
bfor the angle of pitch of inertial measuring unit,
γ
bfor the roll angle of inertial measuring unit,
Transit light pipe elevation angle when θ c is top compass measurement.
Adopting during method of testing two, calculate the approximate formula of the geographic azimuth of testee longitudinal axis indication and see formula (2), orientation error of calculation when this formula can guarantee that testee inclination angle and the light pipe elevation angle are not more than 10 ° is less than 0.3 '.
Ψ
br=Ψc+sin
-1(tanθ
ctanγ
bcosθ
b-tanγ
bsinθ
b)……………（2）
Mounting means during application testing method two, azimuth reference transfer device locating surface and positioning and orienting device (testee) longitudinal axis negative sense locating surface are close to, adjust azimuth reference transfer device, make reference field and positioning and orienting device transverse axis on it, then azimuth reference transfer device and positioning and orienting device are fixed, kept the two static.By positioning and orienting device automated north-seeking, provide the angle of pitch and roll angle, by high accuracy gyroscope, refer to that northern instrument aims at right-angle prism, after adjusting top compass and prism collimation, start to seek north, record the northern result of seeking of top compass, the light pipe elevation angle, the geographic azimuth of method compute location orienting device longitudinal axis indication is determined in the orientation during according to high spud angle.
Claims (6)
1. an inertial measuring unit azimuth reference transfer device, is characterized in that: comprise structure frock, right-angle prism assembly and supporting securing member; Take certain point in structure frock as initial point O, set up three-dimensional system of coordinate, wherein longitudinal axis X b, vertical pivot Yb, transverse axis Zb,
Described structure frock comprises flat column body (4), is separately positioned on two mounting holes (5) at flat column body (4) two ends; Described mounting hole axially parallel with longitudinal axis X b; On wherein two sides of described structure frock, be provided with orthogonal the first reference field (6) and the second reference field, the plane parallel that wherein the first reference field (6) and longitudinal axis X b and transverse axis Zb form, the plane parallel that the second reference field forms with transverse axis Zb and vertical pivot Yb and relative with prism;
Described right-angle prism assembly comprises prism frock (2) and right-angle prism (1); It is upper that described prism frock is arranged on flat column body (4), the plane parallel that the workplace of described right-angle prism and transverse axis Zb and longitudinal axis X b form; Described right-angle prism (1) is fixed in prism frock (2) by supporting securing member (3).
2. inertial measuring unit azimuth reference transfer device according to claim 1, is characterized in that: described reference field is divided into two parts, is symmetrically distributed in the both sides of structure frock axis.
3. inertial measuring unit azimuth reference transfer device according to claim 1 and 2, is characterized in that: described prism frock is arranged on the middle part of flat column body (4).
4. inertial measuring unit azimuth reference transfer device according to claim 3, is characterized in that: described supporting securing member (3) comprises trip bolt, packing ring and pad.
5. a method is determined in orientation during inertial measuring unit high spud angle, it is characterized in that: comprise the following steps:
1] the second reference field of the reference field of testee and azimuth reference transfer device is close to, adjusts azimuth reference transfer device, make OZ axle parallel with local level, then azimuth reference transfer device and testee are fixed, keep the two static;
2] by top compass, aim at right-angle prism, adjust top compass and right-angle prism collimation;
3] top compass starts to seek north, seeks northern result and is the geographic azimuth that testee longitudinal axis is indicated, and computing formula is:
Ψ
br=Ψc
In formula:
Ψ
brfor the north orientation angle " true value " of inertial measuring unit of calculating;
Ψ
cfor top compass north orientation angular measurement value, definition north by west is for just.
6. a method is determined in orientation during inertial measuring unit high spud angle, it is characterized in that: comprise the following steps:
1] testee reference field be close to azimuth reference transfer device and make this testee reference field vertical with OX axle, adjust azimuth reference transfer device, make the first reference field parallel with the upper reference field of testee, then testee and azimuth reference transfer device are fixed, kept the two static;
2] by top compass, aim at right-angle prism, adjust top compass and right-angle prism collimation;
3] top compass starts to seek north, geographic azimuth, the aiming right-angle prism light elevation angle of its aiming right-angle prism light providing are provided, and azimuth reference transfer device trim angle and heeling angle, determine the geographic azimuth that azimuth reference transfer device longitudinal axis is indicated, computing formula is as follows:
Ψ
br=Ψ
c+sin
-1(tanθ
ctanγ
bcosθ
b-tanγ
bsinθ
b)
In formula,
Ψ
brfor the north orientation angle " true value " of inertial measuring unit of calculating,
Ψ
cfor top compass north orientation angular measurement value, definition north by west is being for just,
θ
bfor the angle of pitch of inertial measuring unit,
γ
bfor the roll angle of inertial measuring unit,
Transit light pipe elevation angle when θ c is top compass measurement.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105627982A (en) * | 2014-11-05 | 2016-06-01 | 北京航天计量测试技术研究所 | Remote vehicle inclined aiming method |
| CN106643807A (en) * | 2017-01-16 | 2017-05-10 | 中国人民解放军军械工程学院 | Precision detection method of tube azimuth orienting device |
| CN106855419A (en) * | 2016-12-30 | 2017-06-16 | 西安航天精密机电研究所 | Demarcation method of testing based on accelerometer coordinate system right-angle prism |
| CN110542430A (en) * | 2019-07-24 | 2019-12-06 | 北京控制工程研究所 | large dynamic performance testing device and method for inertial measurement unit |
| CN111009989A (en) * | 2019-11-26 | 2020-04-14 | 西安航天精密机电研究所 | Switching device used between gyro motor and dynamic balancing machine |
| CN115790590A (en) * | 2023-02-09 | 2023-03-14 | 西安航天精密机电研究所 | Dynamically adjustable high-precision inertial navigation and right-angle prism system and adjusting method thereof |
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| CN105627982A (en) * | 2014-11-05 | 2016-06-01 | 北京航天计量测试技术研究所 | Remote vehicle inclined aiming method |
| CN105627982B (en) * | 2014-11-05 | 2019-02-26 | 北京航天计量测试技术研究所 | A kind of long-range vehicle inclination method of sight |
| CN106855419A (en) * | 2016-12-30 | 2017-06-16 | 西安航天精密机电研究所 | Demarcation method of testing based on accelerometer coordinate system right-angle prism |
| CN106855419B (en) * | 2016-12-30 | 2020-05-19 | 西安航天精密机电研究所 | Right-angle prism calibration test method based on accelerometer coordinate system |
| CN106643807A (en) * | 2017-01-16 | 2017-05-10 | 中国人民解放军军械工程学院 | Precision detection method of tube azimuth orienting device |
| CN110542430A (en) * | 2019-07-24 | 2019-12-06 | 北京控制工程研究所 | large dynamic performance testing device and method for inertial measurement unit |
| CN111009989A (en) * | 2019-11-26 | 2020-04-14 | 西安航天精密机电研究所 | Switching device used between gyro motor and dynamic balancing machine |
| CN111009989B (en) * | 2019-11-26 | 2021-05-14 | 西安航天精密机电研究所 | Switching device used between gyro motor and dynamic balancing machine |
| CN115790590A (en) * | 2023-02-09 | 2023-03-14 | 西安航天精密机电研究所 | Dynamically adjustable high-precision inertial navigation and right-angle prism system and adjusting method thereof |
| CN115790590B (en) * | 2023-02-09 | 2023-05-23 | 西安航天精密机电研究所 | Dynamically adjustable high-precision inertial navigation and right-angle prism system and adjusting method thereof |
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