The high Precision Detection caliberating device of inertial orientation equipment
Technical field
The utility model relates to a kind of detection caliberating device of orientation equipment, especially relates to a kind of high Precision Detection caliberating device of inertial orientation equipment.
Background technology
The autonomous heading equipment major part that generally adopts in the military affairs at present is based on the inertia measurement principle, promptly utilize high-precision gyroscope revolutions sports level component sensitively, Changing Pattern according to sensitive axes and north orientation angle, data are carried out calculation process obtain real north, in this equipment, parameters such as gyrostatic zero-bit and scale factor can be along with resting period and environments for use and are changed, drift about with temperature, this is determined by its physical characteristics, gyrostatic this specific character has a strong impact on the precision of orientation equipment, therefore, in the examination and test of products, in examination and the technical service process, need regularly inertial orientation equipment to be detected and demarcates, determine whether the device measuring precision keeps the design objective requirement.Now the method for generally using is: the mode that adopts the geographical north or seek indirect geographical north benchmark detects demarcation to orientation equipment.
As the patent No. is the scaling method that the patent of invention of ZL 200710193523.2 discloses a kind of multi-position strapping north-seeking system direction effect, this method is: by a geographical north prism, two transits and a mechanical dividing turntable are as the subtest instrument, multiposition strapdown north-seeking system is installed with on the mechanical dividing turntable, after all branch is carried out calibration according to a week, the angle of strapdown north-seeking system benchmark prism and real north when dividing equally angle value and determine the initial rotation position of north-seeking system by the geographical north prism system by one of the each rotation of mechanical turntable, north orientation value with the measurement of multiposition strapdown north-seeking system compares then, calculate error amount, simulate graph of errors according to error features the azimuthal effect of gyro is demarcated.
There is following defective in the scaling method of above-mentioned multi-position strapping north-seeking system direction effect:
1) this method can only be carried out in the region that the geographical north benchmark is set or two standard terrestrial coordinate points are set;
2) operation calculation method complexity needs the professional to finish, and makes the detection staking-out work be subjected to certain limitation.
Summary of the invention
The purpose of this utility model overcomes deficiency of the prior art exactly, and a kind of orientation accuracy height is provided, and price is low, and is simple in structure, the high Precision Detection caliberating device of inertial orientation equipment easy to use.
For solving the problems of the prior art, the high Precision Detection caliberating device of the utility model inertial orientation equipment, based on real-time carrier phase difference GPS measuring technique, by the rapid solving integer ambiguity, accurately obtain the position at two gps satellite signal receiving antenna places, with two determined baseline vectors of antenna phase center, obtain and north orientation between angle, realize the detection of inertial orientation equipment is demarcated.
The high Precision Detection caliberating device of the utility model inertial orientation equipment has adopted following scheme: comprise that the position and orientation of being made up of GPS rover station and GPS base station resolves disposal system, resolve the display control terminal of disposal system wireless connections with described position and orientation, also comprise the base station support that is used for supporting the rover station support of GPS rover station and is used for supporting the GPS base station, be provided with the rover station gunsight that is connected with described GPS rover station in the upper end of described rover station support, be provided with the base station gunsight that is connected with described GPS base station in the upper end of described base station support, described GPS rover station and the wireless connections of GPS base station, described display control terminal is connected with described inertial orientation equipment.
Further, the rover station satellite-signal reception that described GPS rover station comprises the rover station satellite signal receiving antenna, be connected with described rover station satellite signal receiving antenna and processing module with receive the rover station wireless communication module that is connected with processing module with described rover station satellite-signal, described rover station wireless communication module is connected with described GPS base station.
Further, described GPS base station comprises base station satellite signal receiving antenna, the base station satellite-signal receiver module that is connected with described base station satellite signal receiving antenna, the base station wireless communication module that is connected with described base station satellite-signal receiver module, and described wireless communication module is connected with described GPS rover station.
Further, described rover station support is provided with directional trim mechanism.
Further, described rover station support is the rover station tripod.
Further, described base station support is the base station tripod.
Further, described rover station gunsight and described base station gunsight are quadrature cross curve structure.
The high Precision Detection caliberating device that possesses the utility model inertial orientation equipment of said structure, adopt the demarcation of satellite orientation technology realization to inertial orientation equipment, remedied and adopted the geographical north or seek the geographical north pedestal method detects timing signal to inertial orientation equipment restriction indirectly, the high Precision Detection caliberating device of the utility model inertial orientation equipment, adopt static relative positioning orientation method, not limited by territorial environment, flexible, has high position precision, high performance-price ratio, simple to operate, advantage such as easy to use, use this device often to demarcate to inertial orientation equipment, help keeping for a long time the orientation accuracy of inertial orientation equipment, prolong its serviceable life.
Description of drawings
Fig. 1 is the structural representation of the high Precision Detection caliberating device embodiment of the utility model inertial orientation equipment.
Fig. 2 resolves the structural representation of disposal system for position and orientation among Fig. 1.
Fig. 3 is the enlarged diagram of the left view of base station gunsight among Fig. 1.
Fig. 4 is the enlarged diagram of the left view of rover station gunsight among Fig. 1.
Embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
As shown in Figure 1, in the present embodiment, inertial orientation equipment 5 to be measured is connected with carrier 6, and carrier 6 is provided with and directly takes aim at mirror 7, and the center of directly taking aim at mirror 7 is provided with optical axis 71.
As shown in Figure 1, the high Precision Detection caliberating device of the utility model inertial orientation equipment, comprise that the position and orientation of being made up of GPS base station 11 and GPS rover station 12 resolves disposal system 1 and display control terminal 2, the lower end of GPS base station 11 is connected with base station gunsight 8, and the lower end of base station gunsight 8 is connected with base station support 3; The lower end of GPS rover station 12 is connected with rover station gunsight 9, and the lower end of rover station gunsight 9 is connected with rover station support 4, also is provided with directional trim mechanism 41 on rover station support 4.Display control terminal 2 is connected with inertial orientation equipment 5.
As shown in Figure 2, GPS base station 11 comprise base station satellite signal receiving antenna 111, the base station satellite-signal receiver module 112 that is connected with base station satellite signal receiving antenna 111, the base station wireless communication module 113 that is connected with base station satellite-signal receiver module 112; The rover station satellite-signal that GPS rover station 12 comprises rover station satellite signal receiving antenna 121, be connected with rover station satellite signal receiving antenna 121 receives and processing module 122 and the rover station wireless communication module 123 that is connected with processing module 122 with the reception of rover station satellite-signal, and rover station wireless communication module 123 intercoms mutually with base station wireless communication module 113 and display control terminal 2 respectively.
What in the present embodiment, described base station support 3 adopted is the convenient base station tripod of regulating.
What in the present embodiment, described rover station support 4 adopted is the convenient rover station tripod of regulating.
As shown in Figure 3 and Figure 4, base station gunsight 8 and rover station gunsight 9 all adopt quadrature cross curve structure, its live width by the angle resolution of directly taking aim at mirror 7 and directly take aim at mirror 7 respectively and the distance of 9 of base station gunsight 8 and rover station gunsights determine to have suitable alignment precision.
Described GPS base station 11 and described GPS rover station 12 can communicate by built-in wireless station or other wireless modes, and described rover station wireless communication module 123 and display control terminal 2 can adopt bluetooth or other wireless modes to communicate.
The detection calibration process of the high Precision Detection caliberating device of the utility model inertial orientation equipment specifically may further comprise the steps:
1) selected target to be measured: selected inertial orientation equipment 5 to be measured is connected inertial orientation equipment 5 with display control terminal 2;
2) directly take aim at mirror 7 and aim at GPS base stations 11: GPS base station 11 is placed on directly takes aim at mirror 7 the place aheads greater than 30 meters distance, base station tripod 3 is transferred to level, the phase center axis normal that makes GPS base station 11 is in the earth surface level, adjust and directly take aim at mirror 7, make the cross curve of the reticle alignment base station gunsight 8 of its optical axis 71, and the vertical line of the cross curve of the vertical line of cross curve of optical axis 71 and base station gunsight 8 is coincided;
3) adjust positioning GPS rover station 12: GPS rover station 12 is placed on directly takes aim between mirror 7 and the GPS base station 11, and the distance between GPS rover station and the GPS base station is greater than 10 meters, earlier rover station tripod 4 is carried out horizontal adjustment, when carrying out horizontal adjustment, from directly take aim at mirror 7, observe also and behind the cross curve immigration visual field of pilot operationp person with rover station gunsight 9 rover station tripod 4 is transferred to level, during level-off, the cross curve of rover station gunsight 9 does not break away from the visual field, and then the directional trim mechanism 41 on the adjusting rover station tripod 4, the cross curve that makes the cross curve of rover station gunsight 9 and directly take aim at optical axises 71 in the mirror 7 overlaps, and the vertical line of the cross curve of the vertical line of the cross curve of directly taking aim at mirror 7 interior optical axises 71 and rover station gunsight 9 is coincided;
4) position and orientation resolves: position and orientation resolves the position angle that disposal system 1 calculates the baseline of being determined by GPS rover station 12 and GPS base station 11, and bearing data sent to display control terminal 2, this position angle is the position angle of GPS rover station 12 and GPS base station 11 phase center lines, also is the position angle of directly taking aim at optical axis 71 in the mirror 7;
5) position angle is relatively judged: read position and orientation at display control terminal 2 and resolve the bearing data that disposal system 1 sends, read the bearing data that inertial orientation equipment 5 sends simultaneously, both are compared, whether the orientation accuracy of judging inertial orientation equipment 5 meets the requirements, if undesirable then execution in step 6), meet the requirements and then do not demarcate again;
6) inertial orientation equipment 5 is demarcated again.
Position and orientation resolves azimuthal process of resolving that disposal system 1 calculates the baseline of being determined by GPS rover station 12 and GPS base station 11 and is in the described step 4): base station satellite signal receiving antenna 111 receives the Navsat carrier signals, and signal sent to base station satellite-signal receiver module 112, base station wireless communication module 113 sends to the rover station satellite-signal with signal by rover station wireless communication module 123 and receives and processing module 122, rover station satellite signal receiving antenna 121 receives the Navsat carrier signal simultaneously, and signal is sent to satellite-signal receive and processing module 122, the satellite-signal reception is handled with 122 pairs of two signals of processing module and is resolved, determine the phase center baseline vector of base station satellite signal receiving antenna 111 and rover station satellite signal receiving antenna 121, and obtain and north orientation between angle, the i.e. position angle of the baseline of being determined by GPS rover station 12 and GPS base station 11, rover station wireless communication module 123 adopts the Bluetooth communication modes that bearing data is sent to display control terminal 2.
In a word, what embodiment of the present utility model announced is its preferred implementation, but is not limited to this.Those of ordinary skill in the art understands spirit of the present utility model very easily according to the foregoing description, and makes different amplifications and variation, but only otherwise break away from spirit of the present utility model, all within protection domain of the present utility model.