CN106289165A - A kind of autonomous compensation method in pedestal uncomfortable flat dip angle and system - Google Patents

Abstract

The present invention relates to a kind of autonomous compensation method in pedestal uncomfortable flat dip angle and system, described method includes step: sets up launching coordinate system, and calculates target coordinate under described launching coordinate system；Set up horizontal coordinates, and be target coordinate under described horizontal coordinates according to the angle of inclination of pedestal by described target coordinate transformation under launching coordinate system；According to the described target calculating coordinate under horizontal coordinates firing data under horizontal coordinates；Firing data under described horizontal coordinates is calculated and is converted into the firing data under described launching coordinate system；Described system has the obliquity sensor being fixed on described pedestal, the control computer being connected with described obliquity sensor by communication bus.The method and system avoid the regulation operation being equipped in non-deliberate positions, shorten the time that equipment launches, improve the capability of fast response of equipment.

Description

A kind of autonomous compensation method in pedestal uncomfortable flat dip angle and system

Technical field

The present invention relates to discharger technical field, particularly relate to a kind of autonomous compensation method in pedestal uncomfortable flat dip angle and System.

Background technology

In order to ensure the launch accuracy of discharger, when carrying out position and arranging, it is generally required to utilize leveling supporting legs to sending out Injection device pedestal carries out leveling.The method using leveling reduces transmission error, there is following point: the unevenness to ground Having higher requirement, when random road roughness is bigger (3 °～5 °), higher leveling precision is extremely difficult to, and needs longer tune Between at ordinary times.This is for shortening launch preparation time, and the transmitting realizing non-deliberate positions is totally unfavorable.

Summary of the invention

In view of above-mentioned analysis, it is desirable to provide a kind of autonomous compensation method in pedestal uncomfortable flat dip angle and system, In order to solve the problem that the leveling difficulty that existing conventional leveling method brings is big, launch time length.

The purpose of the present invention is mainly achieved through the following technical solutions: one aspect of the present invention provides a kind of pedestal uncomfortable The autonomous compensation method in flat dip angle, said method comprising the steps of: step 1: set up launching coordinate system OX " Y " Z ", and calculate Target coordinate (X under described launching coordinate system₁,Y₁,Z₁)；Step 2: set up horizontal coordinates OXYZ, and inclining according to pedestal Described target coordinate transformation under launching coordinate system is target coordinate (X under described horizontal coordinates by rake angle₀,Y₀, Z₀)；Step 3: according to the described target calculating coordinate under horizontal coordinates firing data under horizontal coordinates, be included in Firing azimuth α under horizontal coordinates_V, shooting pitching angle beta_VAnd shooting moment target oblique distance ρ_V；Step 4: inclining according to pedestal Rake angle, calculates the firing data under described horizontal coordinates and is converted into the firing data under described launching coordinate system, including Firing azimuth α under launching coordinate system_q, shooting pitching angle beta_q, complete pedestal uncomfortable flat dip angle and independently compensate.

Further, the angle of inclination of pedestal described in step 2 is recorded by obliquity sensor, and described obliquity sensor is fixed On described pedestal.

Further, launching coordinate system OX described in step 1 " Y " Z " method for building up is: zero O is positioned at and comprises transmitting Device pitch axis and be parallel to the plane of base and the intersection point of discharger azimuth axis, OX " be parallel to base point to discharger Orientation code-disc zero groove direction, OY " it is perpendicular to base and points up, OZ " meet right-handed coordinate system；Level described in step 2 is sat Mark system OXYZ method for building up is: zero O overlaps with launching coordinate system zero, and OX is OX " at the projection of horizontal plane, OY Being perpendicular to horizontal plane point up, OZ meets right-handed coordinate system.

Further, the coordinate (X under horizontal coordinates of the target described in step 2₀,Y₀,Z₀) computational methods be:

Wherein, θ_X、θ_ZComputing formula as follows:

In formula,Exporting inclination value for described obliquity sensor along OX axle, φ is that described obliquity sensor exports along OY axle Inclination value, (X₁,Y₁,Z₁) it is target coordinate under described launching coordinate system.

Further, firing azimuth α under launching coordinate system described in step 4_q, shooting pitching angle beta_qComputational methods are:

Wherein, (X₂,Y₂,Z₂) computing formula as follows:

In formula, α_VFor the firing azimuth under horizontal coordinates, β_VFor the shooting angle of pitch under horizontal coordinates, ρ_VFor water Shooting moment target oblique distance under flat coordinate system.

Further, target coordinate (X under described launching coordinate system₁,Y₁,Z₁) computational methods are:

Wherein, (X₁,Y₁,Z₁) be that target is at launching coordinate system OX " Y " Z " in coordinate, ρ is target oblique distance value, and α is target Azimuth, β is target pitch angle.

Further, need to demarcate before the angle of inclination of the measurement pedestal of obliquity sensor described in step 2, described demarcation Method is: step 21: obliquity sensor installed surface is not more than 0.05mm with the depth of parallelism of pedestal；Step 22: at pedestal X-direction water Place optical quarter meter on flat datum level, adjust optical quarter meter, read level datum level inclination angle in X direction；Step 23: Place optical quarter meter on pedestal Y-direction level reference, adjust optical quarter meter, read level datum level inclining along Y-direction Angle；Step 24: revise obliquity sensor reading, makes the water that obliquity sensor records with optical quarter meter along X-axis output inclination value Flat datum level inclination angle in X direction is identical；The horizontal reference that obliquity sensor records along Y-axis output inclination value with optical quarter meter Face is identical along the inclination angle of Y-direction；Step 25: adjust pedestal X-direction and the inclination angle of Y-direction, repeats step 22, step 23 and step 24, until the measured value of optical quarter meter differs within 2 ' with the output valve of obliquity sensor, then terminate to demarcate.

Another aspect of the present invention also provides for a kind of system realizing the autonomous compensation method in said base uncomfortable flat dip angle, Described system has the obliquity sensor being fixed on described pedestal and passes through what communication bus was connected with described obliquity sensor Controlling computer, described control computer accepts the data of obliquity sensor, it is achieved autonomous backoff algorithm.

Another aspect of the present invention also provides for a kind of system realizing the autonomous compensation method in pedestal uncomfortable flat dip angle, described system System has the obliquity sensor being fixed on described pedestal, and the control being connected with described obliquity sensor by communication bus is calculated Machine, described control computer accepts the data of obliquity sensor, it is achieved autonomous backoff algorithm.

The present invention has the beneficial effect that:

The present invention measures the inclination angle of pedestal by obliquity sensor, by controlling computer inclining according to obliquity sensor The inclination angle of pedestal is independently compensated by rake angle, it is to avoid is equipped in the regulation operation of non-deliberate positions, shortens equipment and launch Time, improve the capability of fast response of equipment.

Detailed description of the invention

The embodiment of the present invention provides the autonomous compensation method in a kind of pedestal uncomfortable flat dip angle and realizes autonomous compensation method System, when carrying out inclination angle and independently compensating, first builds described system, particularly as follows: the standing part at pedestal passes through screw Fixed angle sensor, for measuring the angle of inclination of pedestal, is then connected to described obliquity sensor by communication bus Control on computer, control computer and accept the data of obliquity sensor, it is achieved independently compensate.

Obliquity sensor needs to demarcate before measuring basement tilt angle, method particularly includes:

Step 21: obliquity sensor installed surface is not more than 0.05mm with the depth of parallelism of pedestal；

Step 22: place optical quarter meter on pedestal X-direction level reference, adjust optical quarter meter, read level Datum level inclination angle in X direction；

Step 23: place optical quarter meter on pedestal Y-direction level reference, adjust optical quarter meter, read level Datum level is along the inclination angle of Y-direction；

Step 24: revise obliquity sensor reading, makes obliquity sensor record along X-axis output inclination value with optical quarter meter Level reference inclination angle in X direction identical；The level that obliquity sensor records along Y-axis output inclination value with optical quarter meter Datum level is identical along the inclination angle of Y-direction；

Step 25: adjust pedestal X-direction and the inclination angle of Y-direction, repeats step 22, step 23 and step 24, until optics The measured value of range quadrant differs within 2 ' with the output valve of obliquity sensor, then terminate to demarcate.

Obliquity sensor independently compensates after having demarcated, and concrete compensation method is:

Step 1: set up launching coordinate system OX " Y " Z ", and calculate target coordinate (X under described launching coordinate system₁,Y₁, Z₁)；

Described launching coordinate system OX " Y " Z " method for building up is: zero O is positioned at and comprises discharger pitch axis and parallel Plane and the intersection point of discharger azimuth axis, OX in base " it is parallel to base sensing code-disc zero groove side, discharger orientation To, OY " it is perpendicular to base and points up, OZ " meet right-handed coordinate system；

Target coordinate (X under described launching coordinate system₁,Y₁,Z₁) computational methods are:

Wherein, (X₁,Y₁,Z₁) be that target is at launching coordinate system OX " Y " Z " in coordinate, ρ is target oblique distance value, and α is target Azimuth, β is target pitch angle.

Step 2: set up horizontal coordinates OXYZ, and according to the angle of inclination of pedestal by described target under launching coordinate system Coordinate transformation be target coordinate (X under described horizontal coordinates₀,Y₀,Z₀)；

Horizontal coordinates OXYZ method for building up is: zero O is positioned at and comprises discharger pitch axis and be parallel to base The intersection point of plane and discharger azimuth axis, overlaps with launching coordinate system initial point, OX is OX " in the projection of horizontal plane, OY is vertical Directly pointing up in horizontal plane, OZ meets right-handed coordinate system；

Target coordinate (X under horizontal coordinates₀,Y₀,Z₀) computational methods be:

Wherein, θ_X、θ_ZComputing formula as follows:

In formula,Exporting inclination value for described obliquity sensor along OX axle, φ is that described obliquity sensor exports along OY axle Inclination value, (X₁,Y₁,Z₁) it is target coordinate under described launching coordinate system.

Step 3: according to the described target calculating coordinate under horizontal coordinates firing data under horizontal coordinates, bag Include firing azimuth α under horizontal coordinates OXYZ_V, shooting pitching angle beta_VAnd shooting moment target oblique distance ρ_V；

Step 4: the firing data under described horizontal coordinates is calculated the shooting being converted under described launching coordinate system all Unit, including firing azimuth α under launching coordinate system_q, shooting pitching angle beta_q, complete pedestal uncomfortable flat dip angle and independently compensate；

Firing azimuth α under described launching coordinate system_q, shooting pitching angle beta_qComputational methods are:

Wherein, (X₂,Y₂,Z₂) computing formula as follows:

In formula, α_VFor the firing azimuth under horizontal coordinates OXYZ, β_VFor the shooting pitching under horizontal coordinates OXYZ Angle, ρ_VFor the shooting moment target oblique distance under horizontal coordinates OXYZ, so far complete pedestal uncomfortable flat dip angle and independently compensate.

In sum, embodiments provide a kind of autonomous compensation method in pedestal uncomfortable flat dip angle and system, logical Cross control computer according to the angle of inclination of obliquity sensor, the inclination angle of pedestal independently to be compensated, it is to avoid be equipped in non-presetting The regulation operation in position, shortens the time that equipment launches, improves the capability of fast response of equipment.

The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, Any those familiar with the art in the technical scope that the invention discloses, the change that can readily occur in or replacement, All should contain within protection scope of the present invention.

Claims (8)

1. the autonomous compensation method in pedestal uncomfortable flat dip angle, it is characterised in that said method comprising the steps of:

Step 1: set up launching coordinate system OX " Y " Z ", and calculate target coordinate (X under described launching coordinate system₁,Y₁,Z₁)；

Step 2: set up horizontal coordinates OXYZ, and according to the angle of inclination of pedestal by described target seat under launching coordinate system Mark is converted into target coordinate (X under described horizontal coordinates₀,Y₀,Z₀)；

Step 3: according to the described target calculating coordinate under horizontal coordinates firing data under horizontal coordinates, be included in Firing azimuth α under horizontal coordinates_V, shooting pitching angle beta_VAnd shooting moment target oblique distance ρ_V；

Step 4: according to the angle of inclination of pedestal, calculates the firing data under described horizontal coordinates and is converted into described transmitting seat Firing data under mark system, including firing azimuth α under launching coordinate system_q, shooting pitching angle beta_q, complete pedestal not leveling and incline Oblique angle independently compensates.

The autonomous compensation method in pedestal uncomfortable flat dip angle the most according to claim 1, it is characterised in that base described in step 2 The angle of inclination of seat is recorded by obliquity sensor, and described obliquity sensor is fixed on described pedestal.

The autonomous compensation method in pedestal the most according to claim 1 or claim 2 uncomfortable flat dip angle, it is characterised in that

Launching coordinate system OX described in step 1 " Y " Z " and method for building up is: zero O be positioned at comprise discharger pitch axis and It is parallel to the plane of base and the intersection point of discharger azimuth axis, OX " it is parallel to base and points to discharger orientation code-disc zero quarter Line direction, OY " it is perpendicular to base and points up, OZ " meet right-handed coordinate system；

The method for building up of horizontal coordinates OXYZ described in step 2 is: OX is OX " in the projection of horizontal plane, OY is perpendicular to horizontal plane Pointing up, OZ meets right-handed coordinate system.

The autonomous compensation method in pedestal uncomfortable flat dip angle the most according to claim 3, it is characterised in that target described in step 2 Coordinate (X under horizontal coordinates₀,Y₀,Z₀) computational methods be:

$\left[\begin{array}{c}{X}_0\\ Y_0\\ Z_0\end{array}\right]=\left[\begin{array}{ccc}{\mathrm{cos\θ}}_X& {\mathrm{cos\θ}}_Z{\mathrm{sin\θ}}_X& {\mathrm{sin\θ}}_Z{\mathrm{sin\θ}}_X\\ -{\mathrm{sin\θ}}_X& {\mathrm{cos\θ}}_Z{\mathrm{cos\θ}}_X& {\mathrm{cos\θ}}_X{\mathrm{sin\θ}}_Z\\ 0& -{\mathrm{sin\θ}}_Z& {\mathrm{cos\θ}}_Z\end{array}\right]\left[\begin{array}{c}{X}_1\\ Y_1\\ Z_1\end{array}\right]$

Wherein, θ_X、θ_ZComputing formula as follows:

In formula,Exporting inclination value for described obliquity sensor along OX axle, φ is the inclination angle that described obliquity sensor exports along OY axle Value, (X₁,Y₁,Z₁) it is target coordinate under described launching coordinate system.

The autonomous compensation method in pedestal uncomfortable flat dip angle the most according to claim 4, it is characterised in that send out described in step 4 Penetrate firing azimuth α under coordinate system_q, shooting pitching angle beta_qComputational methods are:

${\mathrm{\α}}_q=arctan\frac{Z_2}{X_2}$

${\mathrm{\β}}_q=arcsin\frac{Y_2}{\sqrt{(X_2^2+Y_2^2+Z_2^2)}}$

Wherein, (X₂,Y₂,Z₂) computing formula as follows:

$\left[\begin{array}{c}{X}_2\\ Y_2\\ Z_2\end{array}\right]={\left[\begin{array}{ccc}{\mathrm{cos\θ}}_X& {\mathrm{cos\θ}}_Z{\mathrm{sin\θ}}_X& {\mathrm{sin\θ}}_Z{\mathrm{sin\θ}}_X\\ -{\mathrm{sin\θ}}_X& {\mathrm{cos\θ}}_Z{\mathrm{cos\θ}}_X& {\mathrm{cos\θ}}_X{\mathrm{sin\θ}}_Z\\ 0& -{\mathrm{sin\θ}}_Z& {\mathrm{cos\θ}}_Z\end{array}\right]}^{-1}\left[\begin{array}{c}{\mathrm{\ρ}}_v{\mathrm{cos\β}}_v{\mathrm{cos\α}}_v\\ {\mathrm{\ρ}}_v{\mathrm{sin\β}}_v\\ {\mathrm{\ρ}}_v{\mathrm{cos\β}}_v{\mathrm{sin\α}}_v\end{array}\right]$

In formula, α_VFor the firing azimuth under horizontal coordinates, β_VFor the shooting angle of pitch under horizontal coordinates, ρ_VSit for level Shooting moment target oblique distance under mark system.

6. according to the autonomous compensation method in pedestal uncomfortable flat dip angle described in any one of claim 4 or 5, it is characterised in that target Coordinate (X under described launching coordinate system₁,Y₁,Z₁) computational methods are:

$\left[\begin{array}{c}{X}_1\\ Y_1\\ Z_1\end{array}\right]=\left[\begin{array}{c}\mathrm{\ρ}cos\mathrm{\β}cos\mathrm{\α}\\ \mathrm{\ρ}sin\mathrm{\β}\\ \mathrm{\ρ}cos\mathrm{\β}sin\mathrm{\α}\end{array}\right]$

Wherein, (X₁,Y₁,Z₁) be that target is at launching coordinate system OX " Y " Z " in coordinate, ρ is target oblique distance value, and α is target bearing Angle, β is target pitch angle.

The autonomous compensation method in pedestal uncomfortable flat dip angle the most according to claim 2, it is characterised in that incline described in step 2 Needing to demarcate before the angle of inclination of angle transducer measurement pedestal, described scaling method is:

Step 21: obliquity sensor installed surface is not more than 0.05mm with the depth of parallelism of pedestal；

Step 22: place optical quarter meter on pedestal X-direction level reference, adjust optical quarter meter, read level benchmark Inclination angle in X direction, face；

Step 23: place optical quarter meter on pedestal Y-direction level reference, adjust optical quarter meter, read level benchmark Face is along the inclination angle of Y-direction；

Step 24: revise obliquity sensor reading, makes the water that obliquity sensor records with optical quarter meter along X-axis output inclination value Flat datum level inclination angle in X direction is identical；The horizontal reference that obliquity sensor records along Y-axis output inclination value with optical quarter meter Face is identical along the inclination angle of Y-direction；

Step 25: adjust pedestal X-direction and the inclination angle of Y-direction, repeats step 22, step 23 and step 24, until optics quadrant The measured value of instrument differs within 2 ' with the output valve of obliquity sensor, then terminate to demarcate.

8. realizing a system for the autonomous compensation method in the uncomfortable flat dip of pedestal as described in any one of claim 1-7 angle, it is special Levying and be, described system has the obliquity sensor being fixed on described pedestal and by communication bus and described obliquity sensor The control computer connected, described control computer accepts the data of obliquity sensor, it is achieved autonomous backoff algorithm.