CN111238529A - Attitude measuring instrument precision calibration device and method based on starlight measurement - Google Patents
Attitude measuring instrument precision calibration device and method based on starlight measurement Download PDFInfo
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- CN111238529A CN111238529A CN201811434642.7A CN201811434642A CN111238529A CN 111238529 A CN111238529 A CN 111238529A CN 201811434642 A CN201811434642 A CN 201811434642A CN 111238529 A CN111238529 A CN 111238529A
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Abstract
The invention relates to a device and a method for calibrating the precision of an attitude measuring instrument based on starlight measurement, wherein the device comprises a GPS receiver, a double-head star-sensitive attitude measuring device, a self-leveling servo tracking table and a rigid base, and equipment to be calibrated is the attitude measuring instrument; the method comprises the following steps: step 1, mounting the calibrating device and the calibrated equipment on a movable base to ensure that the periphery of the device is relatively open and free of shielding so as to facilitate a GPS antenna to smoothly receive GPS satellite signals; step 2, after starting up, each single machine starts working; step 3, the calibration control computer respectively samples an azimuth axis, a pitching axis and a rolling axis code disc on the self-leveling servo tracking table; and 4, calculating to obtain a posture matrix of the hexahedron of the adjusting platform base according to a posture conversion algorithm. The invention has the advantages that the attitude of the astronomical star relative to a certain point on the earth is sensitive, the attitude measurement precision is high, the dynamic performance can meet the requirement, and the aim of calibrating a high-precision attitude measurement system can be fulfilled.
Description
Technical Field
The invention belongs to the field of measurement and calibration of attitude angles in a dynamic environment, and particularly relates to an attitude measuring instrument precision calibration device and method based on starlight measurement.
Background
The attitude measuring instrument can establish a three-dimensional attitude standard in a dynamic environment, can be used for attitude determination work on a ship under a marine condition, but has no mature technology for calibrating the attitude measuring instrument, the environment of a movable base can be simulated only by using a swing platform under a laboratory environment at present, but for an actual marine test environment, the motion of a ship is a complex comprehensive form of multiple motions and also contains a plurality of random factors, so that the measurement and calibration of the attitude measuring instrument on the ship body which is actually used are needed to be carried out.
Disclosure of Invention
The invention aims to: the method is designed to provide a method for calibrating the attitude angle for the attitude measuring instrument by utilizing a high-precision starlight measuring device and calculating the three-dimensional attitude angle of the base of the starlight measuring device through starlight measurement, and solves the problem of calibration of the attitude measuring instrument.
The technical scheme of the invention is as follows: a precision calibration device of an attitude measuring instrument based on starlight measurement comprises a GPS receiver, a double-head star-sensitive attitude measuring device, a self-leveling servo tracking table and a rigid base, wherein the equipment to be calibrated is the attitude measuring instrument;
the GPS receiver comprises an antenna sucker seat, a GPS antenna and a GPS receiving processing card, wherein the GPS antenna is arranged at the top of the antenna sucker seat through threads, and the GPS receiving processing card is embedded in a processing computer of the double-ended star-sensitive attitude measuring device;
the double-head star-sensitive attitude measuring device comprises a star sensor A, a star sensor B, a star-sensitive reference hexahedron and a star-sensitive base, wherein the star sensor A, the star sensor B and the star-sensitive reference hexahedron are fastened on the star-sensitive base through screws; the posture output by the double-head star-sensitive posture measuring device is the posture of the star-sensitive reference hexahedron;
the self-leveling servo tracking platform comprises an azimuth servo tracking shaft, a leveling platform hexahedron, a leveling platform pitching frame, a leveling platform rolling frame, a rolling shaft coded disc, a leveling platform base hexahedron and a pitching shaft coded disc;
the azimuth servo tracking shaft comprises an azimuth motor and an azimuth code disc, the control system controls the azimuth motor to drive the double-end star-sensitive attitude measuring device at the top of the azimuth servo tracking shaft to rotate relative to the pitching frame of the leveling table, and the azimuth code disc measures a rotating angle in real time;
the side surface of the pitching frame of the leveling table is provided with a leveling table hexahedron, so that the normal of the corresponding surface of the leveling table hexahedron is parallel to the pitching axis, and the leveling table hexahedron is fastened through screws;
the leveling table pitching frame is connected with the leveling table rolling frame through a pitching shaft system; a motor and a lead screw are installed at one end, far away from the pitching shaft system, of the leveling table pitching frame, the control system controls the motor to rotate, and the motor drives the lead screw to rise and fall so that the leveling table pitching frame can rotate along the pitching shaft system; one end of the pitch axis system is provided with a pitch axis code disc used for measuring the rotation angle of the pitch axis in real time;
the leveling table transverse rolling frame is connected with the leveling table base through a transverse rolling shaft system; a motor and a lead screw are installed at one end, far away from a transverse rolling shaft system, of a transverse rolling frame of the leveling platform, a control system controls the motor to rotate, and the motor drives the lead screw to rise and fall so as to enable the transverse rolling frame of the leveling platform to rotate along the transverse rolling shaft system; one end of the transverse rolling shaft system is provided with a transverse rolling shaft coded disc for measuring the rotating angle of the transverse rolling shaft in real time; the self-leveling servo tracking table is characterized in that a pitching shaft system and a rolling shaft system are orthogonal, and an azimuth shaft system is orthogonal to the pitching shaft system;
the side surface of the leveling platform base is provided with a leveling platform base hexahedron, so that the normal of the corresponding surface of the leveling platform base hexahedron is parallel to the transverse rolling shaft and is fastened by screws;
after the self-leveling servo tracking table is assembled, the placing base is adjusted to enable the bottom surface of a horizontal rolling frame of the leveling table to be in a horizontal state, the pitching and horizontal rolling shaft systems are adjusted to enable an instrument mounting surface at the top of the pitching frame of the leveling table to be in a horizontal state, the postures of a leveling table surface hexahedron and a leveling table base hexahedron are calibrated to be consistent, the angle values of a rolling shaft code disc and a pitching shaft code disc in the state are recorded and recorded as zero positions.
Furthermore, the double-head star-sensitive attitude measurement device is fixed at the top of the azimuth servo tracking shaft of the self-leveling servo tracking table, the base bottom of the leveling table of the self-leveling servo tracking table is fixed on a rigid base, a GPS antenna of a GPS receiver is adsorbed beside the whole device through an antenna sucker seat, and the distance between the GPS antenna and the double-head star-sensitive attitude measurement device is not more than 1 m.
Furthermore, after the double-head star-sensitive attitude measuring device is installed on the self-leveling servo tracking table, the installation postures of the star-sensitive reference hexahedron and the leveling table surface hexahedron are calibrated, so that the star-sensitive reference hexahedron and the leveling table surface hexahedron are horizontally consistent in two directions; rotating a servo tracking azimuth axis system, recording an angle value of an azimuth code disc when the azimuths of the star sensitive reference hexahedron and the leveling table surface hexahedron are consistent, and recording the angle value as an azimuth zero position value; when the angles of the azimuth axis, the pitch axis and the roll axis code wheel are in zero positions, the three-dimensional postures of the star sensitive reference hexahedron, the leveling table surface hexahedron and the leveling table base hexahedron are consistent.
Furthermore, the attitude measuring instrument is fixed on the rigid base, and the attitude of the attitude measuring instrument relative to the rigid base is ensured to be unchanged in the calibration test process; and the attitude angle output by the attitude measuring instrument is the attitude of the attitude reference hexahedron.
Furthermore, when the attitude measuring instrument is installed on the rigid base, the relationship between the hexahedron of the adjusting platform base and the attitude reference hexahedron needs to be marked out firstly, so that the attitudes of the three directions are consistent; then the attitude angle output by the attitude measuring instrument is also the attitude angle of the hexahedron of the leveling platform base; the base must possess enough high rigidity to guarantee that the gesture between leveling platform base hexahedron and the gesture reference hexahedron is unanimous after equipment fixing and during operation.
Furthermore, the attitude measuring instrument works in a movable base environment, such as a ship or a ship moored or sailing on the water surface, a vehicle in running and the like, the three-dimensional attitude angle of the attitude measuring instrument is measured in real time, and the attitude measuring instrument precision calibrating device based on starlight measurement also works in the movable base environment.
Furthermore, the GPS receiver provides the accurate time information and the geodetic longitude and latitude information of the atomic clock to the star-sensitive attitude measuring device in real time, and the star-sensitive attitude measuring device applies the geodetic longitude and latitude and the accurate time information to the star map matching and attitude resolving processes.
Furthermore, the self-leveling servo tracking platform senses the swing angle displacement of the base through an inertia device fixedly connected to the pitching frame of the leveling platform and feeds the displacement to the control system to perform reverse adjustment on the pitching and rolling shafts, so that the instrument mounting surface on the pitching frame of the leveling platform is in a horizontal state, and the double-head star-sensitive attitude measuring device filters the swing motion of the movable base; in addition, the control system tracks the target astronomical star by controlling an azimuth servo tracking axis according to the feedback of the star-sensitive attitude detection device; and the measuring system converts and transmits the attitude of the star sensor attitude measuring device according to the real-time output angles of the angle measuring elements on the azimuth, pitch and roll axes of the self-leveling servo tracking table.
The invention discloses a method for calibrating the precision of an attitude measuring instrument based on starlight measurement, which uses a calibrating device provided by the invention and comprises the following steps:
And 4, calculating to obtain a posture matrix of the hexahedron of the adjusting platform base according to a posture conversion algorithm:
finally, the three-dimensional attitude angle (psi) is calculated according to the data of the matrixt、θt、γt);
and 6, repeating the steps 1 to 5, repeatedly sampling each instrument and equipment, and calculating to obtain multiple sampling data and error data through formulas (1) and (2) to realize the calibration of the measurement precision of the attitude measuring instrument.
Further, in step 1, the movable base is a ship.
The invention has the following remarkable effects: the adopted measuring equipment is a starlight measuring device, a lever type self-adjusting platform and an azimuth servo tracking mechanism, and the measured equipment is a high-precision attitude measuring system based on a laser inertial measurement unit, is two different attitude measuring modes and does not have a common measuring link. In addition, the star light measuring device senses the attitude of the astronomical star relative to a certain point on the earth, so that the attitude measuring precision is high, and the dynamic performance can meet the requirements.
Drawings
Fig. 1 is a schematic structural diagram of an attitude measuring instrument precision calibration device based on starlight measurement according to the present invention;
FIG. 2 is a schematic data acquisition diagram of a method for calibrating the accuracy of an attitude measurement instrument based on starlight measurement according to the present invention;
in the figure: 1. the device comprises an attitude measuring instrument, 2, an attitude reference hexahedron, 3, a star sensor A, 4, a star sensor B, 5, a star sensitive reference hexahedron, 6, a star sensitive base, 7, an azimuth servo tracking shaft, 8, a leveling table surface hexahedron, 9, a leveling table pitching frame, 10, a leveling table transverse rolling frame, 11, a transverse rolling shaft coded disc, 12, a leveling table base, 13, a leveling table base hexahedron, 14, a pitching shaft coded disc, 15, a rigid base, 16, an antenna sucker base and 17, a GPS antenna.
Detailed Description
The following describes an attitude measurement instrument precision calibration device and method based on starlight measurement in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, a precision calibration device of an attitude measuring instrument based on starlight measurement comprises a GPS receiver, a double-ended star-sensitive attitude measuring device, a self-leveling servo tracking table and a rigid base 15, wherein the equipment to be calibrated is the attitude measuring instrument 1;
the GPS receiver comprises an antenna sucker seat 16, a GPS antenna 17 and a GPS receiving and processing card, wherein the GPS antenna 17 is arranged at the top of the antenna sucker seat 16 through threads, and the GPS receiving and processing card is embedded in a processing computer of the double-head star-sensitive attitude measuring device;
the double-end star-sensitive attitude measuring device comprises a star sensor A3, a star sensor B4, a star-sensitive reference hexahedron 5 and a star-sensitive base 6, wherein the star sensor A3, the star sensor B4 and the star-sensitive reference hexahedron 5 are fastened on the star-sensitive base 6 through screws; the posture output by the double-head star-sensitive posture measuring device is the posture of the star-sensitive reference hexahedron 5;
the self-leveling servo tracking table comprises an azimuth servo tracking shaft 7, a leveling table surface hexahedron 8, a leveling table pitching frame 9, a leveling table rolling frame 10, a rolling shaft code wheel 11, a leveling table base 12, a leveling table base hexahedron 13 and a pitching shaft code wheel 14;
the azimuth servo tracking shaft 7 comprises an azimuth motor and an azimuth code disc, the control system controls the azimuth motor to drive the double-head star-sensitive attitude detection device at the top of the azimuth servo tracking shaft 7 to rotate relative to the leveling table pitching frame 9, and the azimuth code disc detects a rotating angle in real time;
the side surface of the pitching frame 9 of the leveling table is provided with a leveling table hexahedron 8, so that the normal of the corresponding surface of the leveling table hexahedron 8 is parallel to the pitching axis, and the leveling table hexahedron 8 is fastened by screws;
the leveling table pitching frame 9 is connected with the leveling table rolling frame 10 through a pitching shaft system; a motor and a lead screw are installed at one end, far away from the pitching shaft system, of the leveling platform pitching frame 9, the control system controls the motor to rotate, and the motor drives the lead screw to rise and fall, so that the leveling platform pitching frame 9 rotates along the pitching shaft system; a pitch shaft coded disc 14 is arranged at one end of the pitch shaft system and used for measuring the rotation angle of the pitch shaft in real time;
the leveling platform transverse rolling frame 10 is connected with the leveling platform base 12 through a transverse rolling shaft system; a motor and a lead screw are installed at one end, far away from a transverse rolling shaft system, of the leveling table transverse rolling frame 10, a control system controls the motor to rotate, and the motor drives the lead screw to rise and fall, so that the leveling table transverse rolling frame 10 rotates along the transverse rolling shaft system; one end of the transverse rolling shaft system is provided with a transverse rolling shaft coded disc 11 for measuring the rotating angle of the transverse rolling shaft in real time; the self-leveling servo tracking table is characterized in that a pitching shaft system and a rolling shaft system are orthogonal, and an azimuth shaft system is orthogonal to the pitching shaft system;
the side surface of the leveling table base 12 is provided with a leveling table base hexahedron 13, so that the normal of the corresponding surface of the leveling table base hexahedron 13 is parallel to the transverse rolling shaft and is fastened by screws;
after the self-leveling servo tracking platform is assembled, the placing base is adjusted to enable the ground of a horizontal rolling frame 10 of the leveling platform to be in a horizontal state, a pitching and horizontal rolling shaft system is adjusted to enable an instrument mounting surface at the top of a pitching frame 9 of the leveling platform to be in a horizontal state, the postures of a hexahedron 8 of a leveling platform surface and a hexahedron 13 of a base of the leveling platform are calibrated to be consistent, and the angle values of a horizontal rolling shaft coded disc 11 and a pitching shaft coded disc 14 in the state are recorded and recorded as zero positions.
Furthermore, the double-head star-sensitive attitude measurement device is fixed at the top of the azimuth servo tracking shaft 7 of the self-leveling servo tracking platform, the bottom of the leveling platform base 12 of the self-leveling servo tracking platform is fixed on the rigid base 15, a GPS antenna 17 of a GPS receiver is adsorbed beside the whole device through an antenna sucker base 16, and the distance between the GPS antenna and the double-head star-sensitive attitude measurement device is not more than 1 m.
Furthermore, after the double-head star-sensitive attitude measuring device is installed on a self-leveling servo tracking table, the installation postures of the star-sensitive reference hexahedron 5 and the leveling table surface hexahedron 8 are calibrated to enable the star-sensitive reference hexahedron and the leveling table surface hexahedron 8 to be level and consistent in two directions; rotating a servo tracking azimuth axis system, recording the angle value of an azimuth code disc when the azimuths of the star sensitive reference hexahedron 5 and the leveling table surface hexahedron 8 are consistent, and recording the angle value as an azimuth zero position value; when the angles of the azimuth axis, the pitch axis and the roll axis code wheel are in zero positions, the three-dimensional postures of the star sensitive reference hexahedron 5, the leveling table surface hexahedron 8 and the leveling table base hexahedron 13 are consistent.
Further, the attitude measuring instrument 1 is fixed on the rigid base 15, and the attitude of the rigid base 15 is ensured to be unchanged in the calibration test process; the attitude angle output by the attitude measuring instrument 1 is the attitude of the attitude reference hexahedron 2.
Further, when the attitude measuring instrument 1 is installed on the rigid base 15, the relationship between the adjusting platform base hexahedron 13 and the attitude reference hexahedron 2 is marked first, so that the attitudes of the three directions are consistent; then the attitude angle output by the attitude measuring instrument 1, namely the attitude angle of the leveling platform base hexahedron 13; the base 15 must have a rigidity high enough to ensure the conformity of the attitude between the leveling table base hexahedron 13 and the attitude reference hexahedron 2 after installation of the equipment and during operation.
Further, the attitude measuring instrument 1 works in a movable base environment, such as a ship or a ship moored or sailing on the water surface, a vehicle in running, and the like, measures the three-dimensional attitude angle of the attitude measuring instrument in real time, and the attitude measuring instrument precision calibrating device based on starlight measurement also works in the movable base environment.
Furthermore, the GPS receiver provides the accurate time information and the geodetic longitude and latitude information of the atomic clock to the star-sensitive attitude measuring device in real time, and the star-sensitive attitude measuring device applies the geodetic longitude and latitude and the accurate time information to the star map matching and attitude resolving processes.
Furthermore, the self-leveling servo tracking platform senses the swing angle displacement of the base through an inertia device fixedly connected to the leveling platform pitching frame 9 and feeds back the displacement to the control system to perform reverse adjustment on the pitching and rolling shafts, so that the instrument mounting surface on the leveling platform pitching frame 9 is in a horizontal state, and the double-head star-sensitive attitude measuring device filters the swing motion of the movable base; in addition, the control system tracks the target astronomical star by controlling the azimuth servo tracking shaft 7 according to the feedback of the star-sensitive attitude detection device; and the measuring system converts and transmits the attitude of the star sensor attitude measuring device according to the real-time output angles of the angle measuring elements on the azimuth, pitch and roll axes of the self-leveling servo tracking table.
As shown in fig. 2, a method for calibrating the accuracy of an attitude measurement instrument based on starlight measurement, using the calibration device of the present invention, comprises the following steps:
And 3, respectively sampling an azimuth axis, a pitch axis and a roll axis code disc on the self-leveling servo tracking table by the calibration control computer, and calculating the rotation angles (delta psi) of the azimuth, pitch and roll code discs relative to a zero position1、Δθ1、Δγ1) Form an attitude transformation matrix
And 4, calculating to obtain a posture matrix of the hexahedron 13 of the adjusting platform base according to a posture conversion algorithm:
finally, the three-dimensional attitude angle (psi) is calculated according to the data of the matrixt、θt、γt);
and 6, repeating the steps 1 to 5, repeatedly sampling each instrument and equipment, and calculating to obtain multiple sampling data and error data through formulas (1) and (2) to realize the calibration of the measurement precision of the attitude measuring instrument 1.
Further, in step 1, the movable base is a ship.
Claims (10)
1. The utility model provides an attitude measurement appearance precision calibrating device based on starlight measurement which characterized in that: the system comprises a GPS receiver, a double-head star-sensitive attitude measuring device, a self-leveling servo tracking table and a rigid base (15), wherein the equipment to be calibrated is an attitude measuring instrument (1);
the GPS receiver comprises an antenna sucker seat (16), a GPS antenna (17) and a GPS receiving and processing card, wherein the GPS antenna (17) is arranged at the top of the antenna sucker seat (16) through threads, and the GPS receiving and processing card is embedded in a processing computer of the double-head star-sensitive attitude measuring device;
the double-end star-sensitive attitude measuring device comprises a star sensor A (3), a star sensor B (4), a star-sensitive reference hexahedron (5) and a star-sensitive base (6), wherein the star sensor A (3), the star sensor B (4) and the star-sensitive reference hexahedron (5) are fastened on the star-sensitive base (6) through screws; the posture output by the double-head star-sensitive posture measuring device is the posture of the star-sensitive reference hexahedron (5);
the self-leveling servo tracking table comprises an azimuth servo tracking shaft (7), a leveling table surface hexahedron (8), a leveling table pitching frame (9), a leveling table transverse rolling frame (10), a transverse rolling shaft coded disc (11), a leveling table base (12), a leveling table base hexahedron (13) and a pitching shaft coded disc (14);
the azimuth servo tracking shaft (7) comprises an azimuth motor and an azimuth code disc, the control system controls the azimuth motor to drive the double-end star-sensitive attitude measuring device at the top of the azimuth servo tracking shaft (7) to rotate relative to the pitching frame (9) of the leveling table, and the azimuth code disc measures a rotating angle in real time;
a leveling table surface hexahedron (8) is arranged on the side surface of the leveling table pitching frame (9), so that the normal of the corresponding surface of the leveling table surface hexahedron (8) is parallel to a pitching axis, and the leveling table surface hexahedron is fastened through screws;
the leveling table pitching frame (9) is connected with the leveling table rolling frame (10) through a pitching shaft system; a motor and a lead screw are installed at one end, far away from the pitching shaft system, of the leveling platform pitching frame (9), a control system controls the motor to rotate, and the motor drives the lead screw to rise and fall, so that the leveling platform pitching frame (9) rotates along the pitching shaft system; one end of the pitch axis system is provided with a pitch axis coded disc (14) for measuring the rotation angle of the pitch axis in real time;
the leveling table transverse rolling frame (10) is connected with the leveling table base (12) through a transverse rolling shaft system; a motor and a lead screw are installed at one end, far away from a transverse rolling shaft system, of the leveling platform transverse rolling frame (10), a control system controls the motor to rotate, and the motor drives the lead screw to rise and fall, so that the leveling platform transverse rolling frame (10) rotates along the transverse rolling shaft system; one end of the transverse rolling shaft system is provided with a transverse rolling shaft coded disc (11) for measuring the rotating angle of the transverse rolling shaft in real time; the self-leveling servo tracking table is characterized in that a pitching shaft system and a rolling shaft system are orthogonal, and an azimuth shaft system is orthogonal to the pitching shaft system;
a leveling platform base hexahedron (13) is arranged on the side surface of the leveling platform base (12), so that the normal of the corresponding surface of the leveling platform base hexahedron (13) is parallel to the transverse rolling shaft and is fastened by screws;
after the self-leveling servo tracking table is assembled, the placing base is adjusted to enable the bottom surface of a horizontal rolling frame (10) of the leveling table to be in a horizontal state, pitching and rolling shaft systems are adjusted to enable an instrument mounting surface at the top of a pitching frame (9) of the leveling table to be in a horizontal state, the postures of a hexahedron (8) of the leveling table surface and a hexahedron (13) of a base of the leveling table are calibrated to be consistent, and the angle values of a horizontal rolling shaft coded disc (11) and a pitching shaft coded disc (14) in the state are recorded and recorded as zero positions.
2. The device for calibrating the accuracy of an attitude measurement instrument based on starlight measurement as claimed in claim 1, wherein: the double-head star-sensitive attitude measuring device is fixed at the top of an azimuth servo tracking shaft (7) of the self-leveling servo tracking platform, the bottom of a leveling platform base (12) of the self-leveling servo tracking platform is fixed on a rigid base (15), a GPS antenna (17) of a GPS receiver is adsorbed beside the whole device through an antenna sucker base (16), and the distance between the GPS antenna and the double-head star-sensitive attitude measuring device is not more than 1 m.
3. The device for calibrating the accuracy of an attitude measurement instrument based on starlight measurement as claimed in claim 1, wherein: after the double-head star-sensitive attitude measuring device is installed on a self-leveling servo tracking table, the installation postures of a star-sensitive reference hexahedron (5) and a leveling table surface hexahedron (8) are calibrated to ensure that the star-sensitive reference hexahedrons and the leveling table surface hexahedrons are horizontally consistent in two directions; rotating a servo tracking azimuth axis system, recording an angle value of an azimuth code disc when the azimuths of the star sensitive reference hexahedron (5) and the leveling table surface hexahedron (8) are consistent, and recording the angle value as an azimuth zero position value; when the angles of the azimuth axis, the pitch axis and the roll axis code wheel are in zero positions, the three-dimensional postures of the star sensitive reference hexahedron (5), the leveling table surface hexahedron (8) and the leveling table base hexahedron (13) are consistent.
4. The device for calibrating the accuracy of an attitude measurement instrument based on starlight measurement as claimed in claim 1, wherein: the attitude measuring instrument (1) is fixed on the rigid base (15), and the attitude of the attitude measuring instrument relative to the rigid base (15) is ensured to be unchanged in the calibration test process; the attitude angle output by the attitude measuring instrument (1) is the attitude of the attitude reference hexahedron (2).
5. The device for calibrating the accuracy of an attitude measurement instrument based on starlight measurement as claimed in claim 1, wherein: when the attitude measuring instrument (1) is installed on a rigid base (15), the relationship between the adjusting platform base hexahedron (13) and the attitude reference hexahedron (2) needs to be marked out firstly, so that the attitudes in three directions are consistent; then the attitude angle output by the attitude measuring instrument (1), namely the attitude angle of the base hexahedron (13) of the leveling platform; the base (15) must have a rigidity high enough to ensure the conformity of the attitude between the leveling base hexahedron (13) and the attitude reference hexahedron (2) after the installation of the equipment and during the operation.
6. The device for calibrating the accuracy of an attitude measurement instrument based on starlight measurement as claimed in claim 1, wherein: the attitude measuring instrument (1) works in a movable base environment, such as a ship or a ship moored or sailing on the water surface, a vehicle in running and the like, measures the three-dimensional attitude angle of the attitude measuring instrument in real time, and the attitude measuring instrument precision calibrating device based on starlight measurement also works in the movable base environment.
7. The device for calibrating the accuracy of an attitude measurement instrument based on starlight measurement as claimed in claim 1, wherein: the GPS receiver provides the accurate time information and the geodetic longitude and latitude information of the atomic clock to the star-sensitive attitude measuring device in real time, and the star-sensitive attitude measuring device applies the geodetic longitude and latitude and the accurate time information to the processes of star map matching and attitude resolving.
8. The device for calibrating the accuracy of an attitude measurement instrument based on starlight measurement as claimed in claim 1, wherein: the self-leveling servo tracking platform senses the swing angle displacement of the base through an inertia device fixedly connected to a leveling platform pitching frame (9) and feeds back the swing angle displacement to a control system to perform reverse adjustment on a pitching and rolling shaft, so that an instrument mounting surface on the leveling platform pitching frame (9) is in a horizontal state, and the double-head star-sensing attitude measuring device filters the swing motion of the movable base; in addition, the control system tracks the target astronomical star by controlling an azimuth servo tracking axis (7) according to the feedback of the star-sensitive attitude detection device; and the measuring system converts and transmits the attitude of the star sensor attitude measuring device according to the real-time output angles of the angle measuring elements on the azimuth, pitch and roll axes of the self-leveling servo tracking table.
9. An attitude measurement instrument accuracy calibration method based on starlight measurement, characterized in that, by using the calibration device of claim 1, the method comprises the following steps:
step 1, the calibrating device and the calibrated equipment are arranged on a movable base, so that the periphery of the device is relatively open and free of shielding, and a GPS antenna (17) can receive GPS satellite signals smoothly;
step 2, after the start-up, each single machine starts to work, and at a certain sampling moment, the calibration control computer samples the double-head star-sensitive attitude detection device to obtain attitude angles of (psi)x、θx、γx) Establishing a three-dimensional attitude matrix C under the geographic coordinate system of northeastx t;
And 3, respectively sampling an azimuth axis, a pitch axis and a roll axis code disc on the self-leveling servo tracking table by the calibration control computer, and calculating the rotation angles (delta psi) of the azimuth, pitch and roll code discs relative to a zero position1、Δθ1、Δγ1) Form an attitude transformation matrix
And 4, calculating to obtain a posture matrix of the adjusting platform base hexahedron (13) according to a posture conversion algorithm:
finally, the three-dimensional attitude angle (psi) is calculated according to the data of the matrixt、θt、γt);
Step 5, calibrationThe attitude angles obtained by the quasi-control computer by sampling the attitude measuring instrument are respectively (psi)gz、θgz、γgz) Namely the attitude angle of the attitude reference hexahedron (2); because the installation ensures the consistency of the three-dimensional attitude angles of the leveling platform base hexahedron and the attitude reference hexahedron (2), the errors of the three attitude angles measured by the attitude measuring instrument are respectively as follows:
and 6, repeating the steps 1 to 5, repeatedly sampling each instrument and equipment, and calculating to obtain multiple sampling data and error data through formulas (1) and (2) to realize the calibration of the measurement precision of the attitude measurement instrument (1).
10. The method for calibrating the accuracy of an attitude measurement instrument based on starlight measurement as claimed in claim 9, wherein: in step 1, the movable base is a ship.
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Cited By (5)
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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 |
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