CN112013817A - Calibration method of tilt sensor based on one-dimensional rotating mounting table calibration device - Google Patents
Calibration method of tilt sensor based on one-dimensional rotating mounting table calibration device Download PDFInfo
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- CN112013817A CN112013817A CN202010878226.7A CN202010878226A CN112013817A CN 112013817 A CN112013817 A CN 112013817A CN 202010878226 A CN202010878226 A CN 202010878226A CN 112013817 A CN112013817 A CN 112013817A
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- inclination angle
- calibration
- mounting table
- tilt sensor
- angle sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
- G01C9/06—Electric or photoelectric indication or reading means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
- G01C9/06—Electric or photoelectric indication or reading means
- G01C2009/066—Electric or photoelectric indication or reading means optical
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Abstract
The invention discloses a calibration method of an inclination angle sensor based on a one-dimensional rotating mounting table calibration device, which relates to the field of sensor calibration and comprises the following specific steps: the method comprises the following steps: preparing before calibrating a tilt sensor; step two: randomly selecting a plurality of groups of test points on a rotary mounting table, randomly selecting one test point in each group, deflecting the rotary mounting table by 180 degrees through a special control software system to obtain another test point, and obtaining the measured value of the inclination angle sensor of each group of test points
Step three: establishing a data analysis model; step four: treatment ofCalculating calibration parameters by using data: and performing linear fitting on multiple groups of test data by adopting a least square method according to the data analysis model established in the third step to obtain a linearity error coefficient k and a temperature offset coefficient b, and substituting the linearity error coefficient k and the temperature offset coefficient b into the relational expression of the real value and the measured value in the third step to obtain a calibration mathematical model, namely completing calibration work, and having the characteristics of high precision, strong operability and high efficiency.
Description
Technical Field
The invention relates to the field of sensor calibration, in particular to a calibration method of an inclination angle sensor based on a one-dimensional rotating mounting table calibration device.
Background
The inclination angle calibration process of the inclination angle sensor is an important and indispensable link before the inclination angle sensor is used, and the conventional calibration method has poor precision, large operation difficulty and complicated procedures and is difficult to meet the calibration work of the required high-precision inclination angle sensor.
Disclosure of Invention
In view of the problems in the prior art, the invention aims to provide a calibration method of a tilt sensor based on a one-dimensional rotating mounting table calibration device, which has the characteristics of high precision and strong operability.
The calibration method of the tilt angle sensor based on the one-dimensional rotating mounting table calibration device is characterized by comprising the following specific steps of:
the method comprises the following steps: preparing before calibrating a tilt sensor:
installing an inclination angle sensor to be calibrated on a rotary installation table, electrically connecting the inclination angle sensor to a conductive slip ring, and opening a special control software system for preheating;
step two: measuring a plurality of groups of inclination angle values by using an inclination angle sensor:
randomly selecting a plurality of groups of test points on a rotary mounting table, randomly selecting one test point in each group, deflecting the rotary mounting table by 180 degrees through a special control software system to obtain another test point, and obtaining the measured value of the inclination angle sensor of each group of test points
Step three: establishing a data analysis model:
the true value of the inclination angle is characterized by psi, the inclination angle sensor has a system error during the measurement of the inclination angle, namely a linearity error coefficient k, and has a temperature offset, namely a temperature offset coefficient b, and the true value and the measured value have the following relation:
the true values of the dip angles of each group of test points are opposite numbers; thereby establishing a data analysis model;
step four: processing data to calculate calibration parameters:
and performing linear fitting on multiple groups of test data by adopting a least square method according to the data analysis model established in the third step to obtain a linearity error coefficient k and a temperature offset coefficient b, and substituting the linearity error coefficient k and the temperature offset coefficient b into a relational expression of the true value and the measured value in the third step to obtain a calibration mathematical model, namely completing the calibration work.
The calibration method of the tilt sensor based on the one-dimensional rotating mounting table calibration device is characterized in that the second step comprises the following specific steps:
1) randomly selecting a test point A + of the inclination angle sensor to be calibrated on the rotary mounting table, and recording the inclination angle measurement value
With true value of inclination of psiA+Representing, inputting 180 degree displacement increment in a special control software system, executing the rotation of the post-rotation mounting table by 180 degrees, marking the test point of the inclination angle sensor as A-and recording the measured value of the inclination angle as
With true value of inclination of psiA-Characterizing;
2) and repeating the step 1) to obtain a plurality of groups of inclination angle measurement values.
The calibration method of the tilt sensor based on the one-dimensional rotating mounting table calibration device is characterized in that the third step comprises the following specific steps:
1) the relationship between the real inclination angle value and the measured inclination angle value can be obtained as follows:
2) the true values of the dip angles of each group of test points are opposite numbers to each other:
ΨA+＝-ΨA-
3) derived from 1) and 2) in parallel:
the calibration method of the tilt sensor based on the calibration device of the one-dimensional rotating installation table is characterized in that the displacement increment is input by a PC (personal computer) end of a special control software system.
The calibration method of the tilt angle sensor based on the calibration device of the one-dimensional rotating mounting table is characterized in that the measured value of the tilt angle sensor in the second step
Is provided by the tilt sensor to be calibrated and transmits data through the RS232 converter.
The calibration method of the tilt sensor based on the one-dimensional rotating mounting table calibration device is characterized in that MATLAB software is used in the fourth step, and linear fitting is carried out on a linearity error coefficient k and a temperature offset coefficient b which are obtained by a plurality of groups of random repeated experiments in the third step through a least square method.
Compared with the prior art, the invention has the beneficial effects that:
1) by adopting the technical scheme of the invention, the special control system is used for controlling the tilt angle sensor to be calibrated, the tilt angle measurement values of a plurality of groups of test points are measured on the one-dimensional rotary mounting table, the true tilt angles of each group of test points are opposite numbers, and a calibration model is obtained by using the least square fitting of MATLAB software, so that the calibration work of the tilt angle sensor is completed, and the method is reliable in theory and strong in operability;
2) the calibration method realizes semi-automation and has the characteristics of high precision, strong operability and high efficiency.
Drawings
FIG. 1 is a schematic perspective view of an apparatus used in the present invention;
FIG. 2 is a schematic cross-sectional view of an apparatus used in the present invention;
FIG. 3 is a schematic top view of an apparatus used in the present invention.
In the figure: 1-rotating the mounting table; 11-a first boss; 12-a threaded through hole; 13-lower boss; 2-an upper shell; 21-a motor mounting plate; 22-bearing mounting grooves; 23-motor power interface; 24-a drive interface; 25-controller interface; 3-a lower shell; 31-foundation threaded through holes; 4-synchronous belt speed reducing transmission assembly; 41-small belt wheel; 42-a belt; 43-large pulley; 431-a second boss; 432-circular groove; 433-a central through hole; 44-deep groove ball bearings; 5, a motor; 6-a magnetic grid measurement system; 61-magnetic grid read head; 62-ring grating ruler; 63-magnetic grid read head mounting plate; 7-a drive assembly; 71-a driver; 72-a driver mounting plate; 73-a control panel; 8-a conductive slip ring; 9-dedicated control software system.
Detailed Description
The invention will be further described with reference to the accompanying drawings, to which, however, the scope of the invention is not limited.
As shown in fig. 1-3, a calibration method for an inclination sensor based on a one-dimensional rotation mounting table calibration device, wherein the device used for calibrating the inclination sensor includes a complete machine housing and a dedicated control software system 9, the complete machine housing includes an upper housing 2 and a lower housing 3 disposed at the bottom of the upper housing 2, the upper housing 2 is fixedly connected to the lower housing 3 through bolts, the top of the upper housing 2 is provided with a rotation mounting table 1, the rotation mounting table 1 is provided with a set of threaded through holes 12 for mounting the inclination sensor to be calibrated, the center of the rotation mounting table is provided with a first boss 11, the center of the first boss 11 is provided with a set of hollow grooves, in this embodiment, the number of the threaded through holes 12 is 48, the number of the hollow grooves is square, and the number of the hollow grooves is 2, and the hollow grooves provided in this embodiment are used for wiring of the.
The bottom of the rotary mounting table 1 is provided with a synchronous belt speed reducing transmission assembly 4, the synchronous belt speed reducing transmission assembly 4 comprises a small belt wheel 41, a belt 42, a large belt wheel 43 and a deep groove ball bearing 44, the bottom of the rotary mounting table 1 is provided with a lower boss 13 matched with the deep groove ball bearing 44 in size, the top end of the upper shell 2 is provided with a bearing mounting groove 22 matched with the deep groove ball bearing 44 in size, the deep groove ball bearing 44 is arranged in the bearing mounting groove 22, the lower boss 13 is arranged in the deep groove ball bearing 44, the middle of the large belt wheel 43 is provided with a central through hole 433, one side surface of the large belt wheel 43 is provided with a second boss 431 matched with the deep groove ball bearing 44 in size, the second boss 431 is arranged in the deep groove ball bearing 44, the deep groove ball bearing 44 is fixedly connected with the rotary mounting table 1 and the large belt wheel 43 through bolts, so that, the invention adopts shaftless rotation, avoids the influence of the clearance between the worm gear or the gear and the shaft on the precision, simultaneously eliminates the influence of the clearance between the teeth of the worm gear or the gear transmission on the precision by using synchronous belt transmission, has compact shaftless design structure, effectively reduces the size of the whole machine, and is convenient to carry.
The magnetic grating measurement system comprises a large belt wheel 43, wherein a conductive sliding ring 8 is arranged in a central through hole 433 of the large belt wheel 43, the conductive sliding ring 8 is installed on the central through hole 433 of the large belt wheel 43 through a screw, an annular groove 432 is formed in the other side of the large belt wheel 43, an annular grating ruler 62 is arranged in the annular groove 432 and matched with the annular grating ruler 62, a magnetic grating reading head installation plate 63 is arranged in the upper shell 2, a magnetic grating reading head 61 is arranged on the magnetic grating reading head installation plate 63, the magnetic grating reading head 61 and the magnetic grating reading head installation plate 63 are fixedly connected through a screw, the distance between the magnetic grating reading head 61 and the annular grating ruler 62 is at least 2-5mm, and the magnetic grating reading head 61 and the annular grating ruler 62 form a magnetic grating measurement system 6.
A driver mounting plate 72 is arranged in the upper shell 2 near the center of the bottom, a driver 71 and a control plate 73 electrically connected with the driver 71 are arranged on the driver mounting plate 72, the driver 71, the driver mounting plate 72 and the control plate 73 form a driving assembly 7, a motor mounting plate 21 is arranged in the upper shell 2 near the large belt wheel 43, a motor 5 is arranged on the motor mounting plate 21 and fixed in the upper shell 2, the motor 5 and the driver 71 are electrically connected to the control plate 73, a conductive slip ring 8 and a magnetic grid reading head 61 are electrically connected to the control plate 73, the control plate 73 is electrically connected with a special control software system 9, the upper shell 2 is provided with a controller interface 25 matched with the special control software system 9, the control plate 73 and the special control software system 9 are electrically connected through the controller interface 25, and the special control software system 9 designed by the invention can monitor the running state of the, the calibration work is simplified.
Next to the controller interface 25, the upper housing 2 is provided with a motor power interface 23 and a driver interface 24, the motor 5 is electrically connected to the power source through the motor power interface 23, and the driver 71 is electrically connected to the power source through the driver interface 24.
The positions of four corners of the bottom surface of the lower shell 3 are provided with foundation threaded holes, and the foundation threaded through holes 31 are arranged in the embodiment and mainly used for mounting and fixing the whole machine.
A calibration method of a tilt sensor based on a one-dimensional rotating mounting table calibration device comprises the following steps:
the method comprises the following steps: preparing before calibrating a tilt sensor:
installing an inclination angle sensor to be calibrated on a rotary installation table 1, electrically connecting the inclination angle sensor with a conductive slip ring 8, and opening a special control software system 9 for preheating;
step two: measuring a plurality of groups of inclination angle values by using an inclination angle sensor:
randomly selecting a plurality of groups of test points on the rotary mounting table 1, randomly selecting one test point in each group, then deflecting the rotary mounting table 1 by 180 degrees through a special control software system 9 to obtain another test point, and obtaining the measured value of the inclination angle sensor of each group of test points
The method comprises the following steps:
1) randomly selecting a test point A + of the inclination angle sensor to be calibrated on the rotary mounting table 1, and recording the inclination angle measurement value
With true value of inclination of psiA+Representing, inputting 180 degree displacement increment in a special control software system 9, executing the rotation of a post-rotation mounting table by 180 degrees, marking a test point of the inclination angle sensor as A-and recording the measured value of the inclination angle as
With true value of inclination of psiA-Characterizing;
2) and repeating the step 1) to obtain a plurality of groups of inclination angle measurement values.
Step three: establishing a data analysis model:
the true value of the inclination angle is characterized by psi, the inclination angle sensor has a system error during the measurement of the inclination angle, namely a linearity error coefficient k, and has a temperature offset, namely a temperature offset coefficient b, and the true value and the measured value have the following relation:
the true values of the dip angles of each group of test points are opposite numbers; thereby establishing a data analysis model;
the method comprises the following steps:
1) the relationship between the real inclination angle value and the measured inclination angle value can be obtained as follows:
2) the true values of the dip angles of each group of test points are opposite numbers to each other:
ΨA+＝-ΨA-；
3) derived from 1) and 2) in parallel:
step four: processing data to calculate calibration parameters:
and performing linear fitting on multiple groups of test data by adopting a least square method according to the data analysis model established in the third step to obtain a linearity error coefficient k and a temperature offset coefficient b, and substituting the linearity error coefficient k and the temperature offset coefficient b into a relational expression of the true value and the measured value in the third step to obtain a calibration mathematical model, namely completing the calibration work.
The invention relates to a calibration method of an inclination angle sensor based on a one-dimensional rotating mounting table calibration device, which is characterized in that the measured value of the inclination angle sensor of a rotating mounting table 1
Is provided by the tilt sensor to be calibrated and transmits data through the RS232 converter.
Claims (6)
1. A calibration method of a tilt sensor based on a one-dimensional rotating mounting table calibration device is characterized by comprising the following specific steps:
the method comprises the following steps: preparing before calibrating a tilt sensor:
installing an inclination angle sensor to be calibrated on a rotary installation table (1), electrically connecting the inclination angle sensor with a conductive slip ring (8), and opening a special control software system (9) for preheating;
step two: measuring a plurality of groups of inclination angle values by using an inclination angle sensor:
randomly selecting a plurality of groups of test points on the rotary mounting table (1), wherein each group randomly selects one test point and then passes throughThe special control software system (9) deflects the rotary mounting table (1) by 180 degrees to obtain another test point, and the measured value of the inclination angle sensor of each group of test points is obtained
Step three: establishing a data analysis model:
the true value of the inclination angle is characterized by psi, the inclination angle sensor has a system error during the measurement of the inclination angle, namely a linearity error coefficient k, and has a temperature offset, namely a temperature offset coefficient b, and the true value and the measured value have the following relation:
the true values of the dip angles of each group of test points are opposite numbers; thereby establishing a data analysis model;
step four: processing data to calculate calibration parameters:
and performing linear fitting on multiple groups of test data by adopting a least square method according to the data analysis model established in the third step to obtain a linearity error coefficient k and a temperature offset coefficient b, and substituting the linearity error coefficient k and the temperature offset coefficient b into a relational expression of the true value and the measured value in the third step to obtain a calibration mathematical model, namely completing the calibration work.
2. The calibration method of the tilt sensor based on the calibration device of the one-dimensional rotating mounting table as claimed in claim 1, wherein the second step comprises the following specific steps:
1) randomly selecting a test point A + of the inclination angle sensor to be calibrated on the rotary mounting table (1), and recording the inclination angle measured value
With true value of inclination of psiA+Characterizing, inputting 180-degree displacement increment in a special control software system (9), rotating the mounting table (1) for 180 degrees after execution, marking the test point of the inclination angle sensor as A-and recording the measured value of the inclination angle as
With true value of inclination of psiA-Characterizing;
2) and repeating the step 1) to obtain a plurality of groups of inclination angle measurement values.
3. The calibration method of the tilt sensor based on the calibration device of the one-dimensional rotating mounting table as claimed in claim 1, wherein the third step comprises the following specific steps:
1) the relationship between the real inclination angle value and the measured inclination angle value can be obtained as follows:
2) the true values of the dip angles of each group of test points are opposite numbers to each other:
ΨA+＝-ΨA-
3) derived from 1) and 2) in parallel:
4. the calibration method of a tilt sensor based on a calibration device of a one-dimensional rotating installation table as claimed in claim 2, characterized in that the displacement increment is inputted by the PC end of a special control software system (9).
5. The method as claimed in claim 1, wherein the measured value of the tilt sensor in the second step is measured by a tilt sensor calibration device
Is provided by the tilt sensor to be calibrated and transmits data through the RS232 converter.
6. The method for calibrating the tilt sensor based on the calibration device of the one-dimensional rotating installation table as claimed in claim 1, wherein the linearity error coefficient k and the temperature offset coefficient b obtained by a plurality of groups of random repeated experiments in the third step are subjected to line fitting by using MATLAB software in the fourth step through a least square method.
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| CN202010878226.7A CN112013817B (en) | 2020-08-27 | 2020-08-27 | Calibration method of tilt sensor based on one-dimensional rotating mounting table calibration device |
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| CN202010878226.7A CN112013817B (en) | 2020-08-27 | 2020-08-27 | Calibration method of tilt sensor based on one-dimensional rotating mounting table calibration device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113324562A (en) * | 2021-06-08 | 2021-08-31 | 北京无线电测量研究所 | Calibration method and system for tilt sensor |
| CN114184213A (en) * | 2022-02-16 | 2022-03-15 | 北京航天驭星科技有限公司 | System and method for measuring non-verticality of antenna azimuth axis |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170346599A1 (en) * | 2016-05-26 | 2017-11-30 | Electronics And Telecommunications Research Institute | Apparatus and method for supporting cooperative transmission |
| CN111307040A (en) * | 2020-03-20 | 2020-06-19 | 嘉兴方石科技有限公司 | Construction measuring equipment |
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2020
- 2020-08-27 CN CN202010878226.7A patent/CN112013817B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170346599A1 (en) * | 2016-05-26 | 2017-11-30 | Electronics And Telecommunications Research Institute | Apparatus and method for supporting cooperative transmission |
| CN111307040A (en) * | 2020-03-20 | 2020-06-19 | 嘉兴方石科技有限公司 | Construction measuring equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113324562A (en) * | 2021-06-08 | 2021-08-31 | 北京无线电测量研究所 | Calibration method and system for tilt sensor |
| CN114184213A (en) * | 2022-02-16 | 2022-03-15 | 北京航天驭星科技有限公司 | System and method for measuring non-verticality of antenna azimuth axis |
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| CN112013817B (en) | 2022-05-06 |
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