CN109631940A - A kind of Fourth Ring inertially stabilized platform frame Zero Position Calibration Method - Google Patents
A kind of Fourth Ring inertially stabilized platform frame Zero Position Calibration Method Download PDFInfo
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- CN109631940A CN109631940A CN201811499734.3A CN201811499734A CN109631940A CN 109631940 A CN109631940 A CN 109631940A CN 201811499734 A CN201811499734 A CN 201811499734A CN 109631940 A CN109631940 A CN 109631940A
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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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Abstract
The present invention relates to a kind of Fourth Ring inertially stabilized platform frame Zero Position Calibration Methods, so that after Fourth Ring inertially stabilized platform frame zero, gimbal axis is parallel with accelerometer sensitive axis, to improve the navigation accuracy of the stated accuracy of the inertia type instrument of Fourth Ring inertially stabilized platform, the conversion accuracy of platform stage body posture to attitude of carrier and plateform system.The key step of this method includes: 1) phantom ring frame Zero Position Calibration: 2) stage body axis frame Zero Position Calibration；3) outer annulate shaft frame Zero Position Calibration.
Description
Technical field
The present invention relates to a kind of Fourth Ring inertially stabilized platform frame Zero Position Calibration Methods.
Background technique
Global missile is the most important application field of inertial navigation technology.The inertial guidance system of global missile
Middle application is high-precision inertially stabilized platform mostly, represents the highest level of inertial navigation technology.
Fourth Ring inertially stabilized platform is more typical one kind in plateform system, on level table, Fourth Ring platform framework
After zero, the gimbal axis of pairwise orthogonal should be parallel with the accelerometer sensitive axis of pairwise orthogonal, and the orthogonality of gimbal axis passes through dress
Guarantee with technique, the orthogonality of accelerometer passes through compensation installation error compensation.
In fact, after frame zero, it is difficult to ensure that frame shafting is parallel to each other with accelerometer shafting, if not to frame zero
Position is adjusted, and relative to the benchmark that accelerometer coordinate system is established, there are deviations for frame output.Fourth Ring stable inertia is flat
The frame output of platform directly affects the conversion of the stated accuracy, platform stage body posture to attitude of carrier of plateform system inertia type instrument
The navigation accuracy of precision and plateform system is the key factor for influencing plateform system application precision.
Summary of the invention
In order to solve the problems in background technique, the present invention provides a kind of Fourth Ring inertially stabilized platform frame Zero Position Calibration side
Method, so that gimbal axis is parallel with accelerometer sensitive axis after Fourth Ring inertially stabilized platform frame zero, so that it is used to improve Fourth Ring
The stated accuracy of inertia type instrument of property stabilized platform, the conversion accuracy of platform stage body posture to attitude of carrier and plateform system
Navigation accuracy.
The specific technical solution of the present invention is:
The present invention provides a kind of Fourth Ring inertially stabilized platform frame Zero Position Calibration Methods, comprising the following steps:
1) phantom ring frame Zero Position Calibration:
1.1) Fourth Ring inertially stabilized platform is placed in horizontal plate；
1.2) four frames zero locking；
1.3) outer annulate shaft and phantom ring axial adjustment angle are calculated according to the output of X, Z accelerometer；
1.4) angle for adjusting outer annulate shaft makes the servo-actuated corresponding X accelerometer of annulate shaft be adjusted to horizontal position；Meanwhile it adjusting
The angle of whole servo-actuated annulate shaft makes the corresponding Z accelerometer of outer annulate shaft be adjusted to horizontal position；
1.5) mark this state as leading zero's, it is phantom ring frame zero-bit that phantom ring, which adjusts the angle,；
2) stage body axis frame Zero Position Calibration；
2.1) around outline border axis be rotated by 90 ° respectively with 270 °, acquire two positions Z accelerometer output unit time speed
Degree increment is fz1、fz2, each position data acquisition time is greater than 2min；
2.2) it calculates stage body axis frame to adjust the angle, which is stage body axis frame zero-bit；
2.3) it according to stage body axis frame zero-bit, compensates stage body axis and exports zero-bit；
2.4) compensation finishes, and each frame zero, locking return to initial position；
3) outer annulate shaft frame Zero Position Calibration；
3.1) it rotates 0 ° and 180 ° respectively around phantom ring, acquires the unit time speed of the X accelerometer output of two positions
Spend increment fx1、fx2, each position data acquisition time be greater than 2min,
3.2) it calculates outer annulate shaft frame to adjust the angle, which is outer annulate shaft frame zero-bit；
3.3) it according to outer annulate shaft frame zero-bit, compensates outer annulate shaft and exports zero-bit；
3.4) compensation finishes, and each frame zero, locking return to initial position, complete frame Zero Position Calibration.
Further, this method further includes step 4) verification process, the verification process specifically:
Frame zero locking, platform inclination are rotated around any gimbal axis, if the corresponding accelerometer output of rotary shaft is kept
Constant, then frame Zero Position Calibration is accurate, frame rotary shaft and corresponding accelerometer measures overlapping of axles.
Further, the above-mentioned specific formula for 2.2) calculating stage body axis frame and adjusting the angle are as follows:
Further, the above-mentioned specific formula for 3.2) calculating outer annulate shaft frame and adjusting the angle are as follows:
The present invention has the advantages that
The present invention utilizes the high-precision accelerometer of three pairwise orthogonals, carries out to Fourth Ring inertially stabilized platform frame zero-bit
Calibration, it is parallel with frame rotary shaft to realize accelerometer sensitive axis, is the calibration of high-precision inertia type instrument, platform stance to load
The high-precision of body posture is converted and high-precision navigation application has established technical foundation.
Detailed description of the invention
Fig. 1 is Fourth Ring inertial platform scheme of installation.
Fig. 2 is accelerometer sensitive axis and frame axis deviation schematic diagram.
Specific embodiment
Method of the invention is further described with reference to the accompanying drawing:
After Fourth Ring inertially stabilized platform frame zero, frame and stage body installation are as shown in Figure 1.Three accelerometers are installed on
Stage body, after error compensation, three accelerometer sensitive axis are overlapped with stage body coordinate system oXp, oYp, oZp accelerometer respectively,
And three axis pairwise orthogonal.Ideally, accelerometer sensitive axis oXp, oYp, oZp respectively with inner axle oXm, stage body axis oYm,
Outer annulate shaft oZm is parallel, and it is parallel with oXm, oXp to be servo-actuated annulate shaft oSm.Under normal circumstances, the compensation of accelerometer installation error is more accurate,
It can guarantee that oYp, oYm are overlapped, but there are deviations by accelerometer sensitive axis oXp, oZp and gimbal axis oSm, oZm.
By taking Z axis as an example, accelerometer sensitive axis oZp and outer annulate shaft oZm installation relation are as shown in Fig. 2, in figure, and oZp is flat
It is β that the angle for being projected as oL1, oZp and plane oYmZm of face oYmZm, which is α, oL1 and oZm angle, and α, β are between oZp, oZm
The angle of deviation, deviation α can be eliminated by adjusting stage body shaft angle degree, so that oZp is overlapped with oL1, adjustment phantom ring shaft angle degree can disappear
Except β, so that oL1 is overlapped with oZm, so that oZp be made to be overlapped with oZm.
Defaulting Fourth Ring platform inner axis inner axle oXm frame zero-bit is 0, without adjustment.Fourth Ring stable inertia is put down
Platform after four frame of platform zero, makes in Y-axis as on plate, and adjustment phantom ring oSm, outer annulate shaft oZm make X, Z accelerometer
Pulse output is 0, and oXp, oZp are in horizontality at this time, and oL1 and oZm angle β are 0, and the oSm angle of adjustment is phantom ring
Gimbal axis zero-bit.
In order to be rotated by 90 ° around outer annulate shaft, at this time oZp using the angle α of accelerometer output measurement oZp and plane oYmZm
It is no longer on horizontality, the output of Z accelerometer can be according to the following formula:
fz1=gsin α (1)
In formula:
fz1--- indicate the gravitational acceleration component of Z accelerometer output, unit: m/s2, which can be defeated by accelerometer
It measures out；
α --- indicate the angle of oZp and plane oYmZm, unit: rad；
G --- indicate acceleration of gravity；
If being similarly pivoted 270 °, Z accelerometer output at this time be may be expressed as:
fz2=-gsin α (2)
The angle α of oZp Yu plane oYmZm can be obtained by above two formula are as follows:
α is eliminated by adjusting stage body axis, which is the frame zero-bit of stage body axis oYm.
Similarly, it is exported using X accelerometer, calculates outer framework zero-bit, concrete principle repeats no more.
It is three accelerometer pairwise orthogonals using premise of the high-precision accelerometer to frame Zero Position Calibration, and platform platform
Body axis and corresponding accelerometer sensitive overlapping of axles.If condition is not satisfied, need to mark accelerometer installation error
Periodical repair is just.If accelerometer meets frame Zero positioning requirement, according to said frame Zero positioning and adjustment principle, according to following
Step implementation framework Zero Position Calibration:
1, phantom ring frame Zero Position Calibration:
Fourth Ring inertially stabilized platform is placed on plate, the zero locking of four frames calculates outer according to the output of X, Z accelerometer
Ring and phantom ring adjust the angle, and adjust the angle of outer annulate shaft, and the servo-actuated corresponding X accelerometer of annulate shaft is made to be adjusted to horizontal position；
Meanwhile the angle of servo-actuated annulate shaft is adjusted, so that the corresponding Z accelerometer of outer annulate shaft is adjusted to horizontal position；This state is as starting
Zero point, it is phantom ring frame zero-bit that phantom ring, which adjusts the angle,；
2, stage body axis frame Zero Position Calibration；
Around outline border axis be rotated by 90 ° respectively with 270 °, acquire two positions Z accelerometer output unit time speed increase
Measure fz1、fz2, general each position data acquisition time is greater than 2min；Stage body axis frame is calculated according to formula (3) to adjust the angle, it should
Value is stage body axis frame zero-bit；According to stage body axis frame zero-bit, compensates stage body axis and export zero-bit；Each frame zero, locking, are returned
To initial position；
3, outer annulate shaft frame Zero Position Calibration；
Rotate 0 ° and 180 ° respectively around phantom ring, the unit time speed for acquiring the X accelerometer output of two positions increases
Measure fx1、fx2, general each position data acquisition time should according to the outer annulate shaft frame adjustment angle of formula (3) calculating greater than 2min
Value is outer annulate shaft frame zero-bit；According to outer annulate shaft frame zero-bit, compensates outer annulate shaft and export zero-bit；Each frame zero, locking, are returned
To initial position, frame Zero Position Calibration is completed.
It according to outer annulate shaft angle correction, compensates outer annulate shaft and exports zero-bit, on this basis, each frame zero, locking return to
Frame Zero Position Calibration is completed in initial position, and servo axis and corresponding accelerometer may not be to be in a horizontal position at this time, navigation
It needs to carry out mathematical compensation to its tilt angle when posture changing；
4, calibration is verified
It tests to the frame after calibration, the method for inspection are as follows: frame zero locking, platform inclination, around any gimbal axis
Rotation, if rotary shaft corresponding accelerometer output remains unchanged, frame Zero Position Calibration is accurate, frame rotary shaft with it is corresponding
Accelerometer measures overlapping of axles.
Claims (4)
1. a kind of Fourth Ring inertially stabilized platform frame Zero Position Calibration Method, which comprises the following steps:
1) phantom ring frame Zero Position Calibration:
1.1) Fourth Ring inertially stabilized platform is placed in horizontal plate；
1.2) four frames zero locking；
1.3) outer annulate shaft and phantom ring axial adjustment angle are calculated according to the output of X, Z accelerometer；
1.4) angle for adjusting outer annulate shaft makes the servo-actuated corresponding X accelerometer of annulate shaft be adjusted to horizontal position；Meanwhile adjustment with
The angle of rotating ring axis makes the corresponding Z accelerometer of outer annulate shaft be adjusted to horizontal position；
1.5) mark this state as leading zero's, it is phantom ring frame zero-bit that phantom ring, which adjusts the angle,；
2) stage body axis frame Zero Position Calibration；
2.1) around outline border axis be rotated by 90 ° respectively with 270 °, acquire two positions Z accelerometer output unit time speed increase
Amount is fz1、fz2, each position data acquisition time be greater than 2min,
2.2) it calculates stage body axis frame to adjust the angle, which is stage body axis frame zero-bit；
2.3) it according to stage body axis frame zero-bit, compensates stage body axis and exports zero-bit；
2.4) compensation finishes, and each frame zero, locking return to initial position；
3) outer annulate shaft frame Zero Position Calibration；
3.1) 0 ° and 180 ° are rotated respectively around phantom ring, the unit time speed for acquiring the X accelerometer output of two positions increases
Measure fx1、fx2, each position data acquisition time be greater than 2min,
3.2) it calculates outer annulate shaft frame to adjust the angle, which is outer annulate shaft frame zero-bit；
3.3) it according to outer annulate shaft frame zero-bit, compensates outer annulate shaft and exports zero-bit；
3.4) compensation finishes, and each frame zero, locking return to initial position, complete frame Zero Position Calibration.
2. inertially stabilized platform frame Zero Position Calibration Method in Fourth Ring according to claim 1, it is characterised in that: further include step
Rapid 4) verification process, the verification process specifically:
Frame zero locking, platform inclination are rotated around any gimbal axis, if the corresponding accelerometer output of rotary shaft is kept not
Become, then frame Zero Position Calibration is accurate, frame rotary shaft and corresponding accelerometer measures overlapping of axles.
3. inertially stabilized platform frame Zero Position Calibration Method in Fourth Ring according to claim 1 or 2, it is characterised in that: described
2.2) the specific formula that stage body axis frame adjusts the angle is calculated are as follows:G --- indicate acceleration of gravity.
4. inertially stabilized platform frame Zero Position Calibration Method in Fourth Ring according to claim 1 or 2, it is characterised in that: described
3.2) the specific formula that outer annulate shaft frame adjusts the angle is calculated are as follows:G --- indicate acceleration of gravity.
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| CN110673657A (en) * | 2019-10-21 | 2020-01-10 | 西安应用光学研究所 | Stable platform angle automatic compensation resolving method |
| CN112611378A (en) * | 2020-10-26 | 2021-04-06 | 西安航天精密机电研究所 | Carrier attitude angular velocity measurement method based on four-ring inertial navigation platform |
| CN112611379A (en) * | 2020-11-27 | 2021-04-06 | 武汉华之洋科技有限公司 | Inertial navigation stable platform and calibration and installation method thereof |
| CN113739761A (en) * | 2021-09-02 | 2021-12-03 | 武汉华之洋科技有限公司 | Leveling method and leveling platform using same |
| CN115597628A (en) * | 2022-09-29 | 2023-01-13 | 北京航天控制仪器研究所（Cn） | Dynamic characteristic testing method for inertial platform servo loop |
| CN116907542A (en) * | 2023-07-14 | 2023-10-20 | 中国科学院长春光学精密机械与物理研究所 | Calibration system and calibration method for orthogonal position of triaxial inertial stabilized platform |
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Cited By (9)
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| CN110186481A (en) * | 2019-06-10 | 2019-08-30 | 西安航天三沃机电设备有限责任公司 | Calibration system and calibration method suitable for inertia component on small-sized seeker bullet |
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| CN112611378A (en) * | 2020-10-26 | 2021-04-06 | 西安航天精密机电研究所 | Carrier attitude angular velocity measurement method based on four-ring inertial navigation platform |
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| CN112611379B (en) * | 2020-11-27 | 2022-08-16 | 武汉华之洋科技有限公司 | Inertial navigation stable platform and calibration and installation method thereof |
| CN113739761A (en) * | 2021-09-02 | 2021-12-03 | 武汉华之洋科技有限公司 | Leveling method and leveling platform using same |
| CN115597628A (en) * | 2022-09-29 | 2023-01-13 | 北京航天控制仪器研究所（Cn） | Dynamic characteristic testing method for inertial platform servo loop |
| CN116907542A (en) * | 2023-07-14 | 2023-10-20 | 中国科学院长春光学精密机械与物理研究所 | Calibration system and calibration method for orthogonal position of triaxial inertial stabilized platform |
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