CN112697140B - Measuring device and measuring and calculating method for attitude angle of inertial navigation IMU (inertial measurement unit) component relative to inner ring frame - Google Patents
Measuring device and measuring and calculating method for attitude angle of inertial navigation IMU (inertial measurement unit) component relative to inner ring frame Download PDFInfo
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Abstract
The invention relates to a measuring device and a measuring and calculating method for an inertial navigation IMU (Inertial Measurement Unit ) component relative to an inner ring frame attitude angle, wherein the measuring device comprises: autocollimator, reflector M 0 Mirror M 1 And a reflecting mirror M 2 The method comprises the steps of carrying out a first treatment on the surface of the Mirror M 0 The device is arranged on the outer side of one side edge of the inner ring frame of the inertial navigation device; mirror M 1 And a reflecting mirror M 2 Are respectively arranged on two adjacent surfaces of the inertial navigation IMU component; the azimuth axis and the pitching axis of the inertial navigation device are rotated, so that the autocollimator can respectively align with the reflecting mirror M 0 Mirror M 1 And a reflecting mirror M 2 Autocollimation; the rotation shaft system and the angle measurement unit of the biaxial inertial navigation are fully utilized, the IMU gesture and the course are measured through an autocollimator and a plane reflector, the gesture angle of the IMU component relative to the inner ring frame of the shaft system is obtained after calculation, and the variation of the gesture angle of the IMU component relative to the inner ring frame of the shaft system after repeated installation or replacement is obtained, so that the course and the gesture of the inertial navigation are compensated; breaks through the limitation of static conditions of the carrier required during attitude and heading calibration.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a measuring device and a measuring and calculating method for an attitude angle of an inertial navigation IMU assembly relative to an inner ring frame.
Background
In a dual axis inertial navigation system, an IMU assembly is mounted on an inner gimbal. In order to ensure the accuracy of the attitude, heading and position of the carrier, a certain coupling relationship is required between the IMU assembly and the inner ring frame. When the IMU component of the inertial navigation system is repeatedly installed or replaced, the relative positions of the IMU component and the inner ring frame may change, and the mutual position relation needs to be calibrated again to compensate the course and the gesture output of inertial navigation. In addition, the relative posture between the IMU component and the inner ring frame is changed due to the aging of the rubber shock absorber on the IMU or other reasons in the long-term working process, the specific variable quantity is obtained, and the navigation precision can be improved by compensating and correcting.
The change in attitude of an IMU assembly after repeated installation or replacement is typically determined in several ways: after the IMU component is replaced, under the condition that a carrier of an inertial navigation system is static, adopting a gyro theodolite to search north or aiming a known reference target by the theodolite to obtain a true north value, and then autocollimating a reference mirror on the inertial navigation to determine the inertial navigation course; and measuring the inclination angle of the datum plane on the inertial navigation by using a differential level meter, and determining the attitude of the inertial navigation. The other is to physically improve the repeated installation precision of the IMU component through the mechanism design, so that the gesture and heading errors of the IMU component are within an acceptable range after the repeated installation or replacement.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a measuring device and a measuring and calculating method for the attitude angle of an inertial navigation IMU component relative to an inner ring frame, and solves the problem that calibration cannot be carried out on a dynamic carrier in the prior art.
The technical scheme for solving the technical problems is as follows: the rotation shaft system and the angle measurement unit of the biaxial inertial navigation are fully utilized, the IMU gesture and the course are measured through an autocollimator and a plane reflector, the gesture angle of the IMU component relative to the inner ring frame of the shaft system is obtained after calculation, and the variation of the gesture angle of the IMU component relative to the inner ring frame of the shaft system after repeated installation or replacement is obtained, so that the course and the gesture of the inertial navigation are compensated; breaks through the limitation of static conditions of the carrier required during attitude and heading calibration, and improves the maintainability and the fittability of the equipment; the auto-collimation tube is small in size and convenient to carry and install, overcomes inconvenience of field operation, can be used for monitoring course and posture change of the IMU component caused by ageing shape of the rubber shock absorber or other reasons in the long-term working process, and can be used for compensation and correction, and navigation accuracy is improved.
The measuring and calculating method for the attitude angle of the inertial navigation IMU component relative to the inner ring frame based on the measuring device is characterized by comprising the following steps:
the autocollimator is used for reflecting the mirror M 0 Autocollimation, the azimuth angle psi in the state is obtained through the shafting angle measurement unit 0 And pitch angle theta 0 ；
Rotating the azimuth axis and the pitching axis of the inertial navigation device, and utilizing the autocollimator to align the reflecting mirror M 1 Autocollimation, the azimuth angle psi in the state is obtained through the shafting angle measurement unit 1 And pitch angle theta 1 The method comprises the steps of carrying out a first treatment on the surface of the The autocollimator is used for reflecting the mirror M 2 Autocollimation, the azimuth angle psi in the state is obtained through the shafting angle measurement unit 2 And pitch angle theta 2 ；
According to the reflecting mirror M 0 Mirror M 1 And a reflecting mirror M 2 And calculating the attitude angle of the inertial navigation IMU component relative to the inner ring frame according to the relative direction and the azimuth angle and the pitch angle of the inertial navigation IMU component in each state.
The beneficial effects of the invention are as follows: the rotation shaft system and the angle measurement unit of the biaxial inertial navigation are fully utilized, the IMU gesture and the course are measured through an autocollimator and a plane reflector, the gesture angle of the IMU component relative to the inner ring frame of the shaft system is obtained after calculation, and the variation of the gesture angle of the IMU component relative to the inner ring frame of the shaft system after repeated installation or replacement is obtained, so that the course and the gesture of the inertial navigation are compensated; breaks through the limitation of static conditions of the carrier required during attitude and heading calibration, and improves the maintainability and the fittability of the equipment; the auto-collimation tube is small in size and convenient to carry and install, overcomes inconvenience of field operation, can be used for monitoring course and posture change of the IMU component caused by ageing shape of the rubber shock absorber or other reasons in the long-term working process, and can be used for compensation and correction, and navigation accuracy is improved.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the autocollimator is respectively opposite to the reflecting mirror M 0 Mirror M 1 And a reflecting mirror M 2 And during auto-collimation, the shafting angle measurement unit of inertial navigation respectively measures and outputs azimuth angles and pitch angles of all states.
Further, the autocollimator is opposite to the reflecting mirror M 0 Mirror M 1 Or a reflecting mirror M 2 And when the degree of the autocollimation light pipe is not zero during autocollimation, the reading value of the autocollimation light pipe is calculated into the angle measurement reading of the azimuth angle and the pitch angle through corresponding operation.
Further, according to the reflecting mirror M 0 Mirror M 1 And a reflecting mirror M 2 In the process of calculating the attitude angle of the inertial navigation IMU component relative to the inner ring frame according to the relative direction and the azimuth angle and the pitch angle in each state:
defining respective coordinate systems, the coordinate systems comprising: a light pipe coordinate system b of the auto-collimation light, a shafting coordinate system of inertial navigation equipment and a reflecting mirror M 0 Coordinate system, mirror M 1 Coordinate system of (c) and mirror M 2 Is a coordinate system of (2);
defining the mirror M by a coordinate transformation matrix between the respective coordinate systems 0 Mirror M 1 And a reflecting mirror M 2 Is a function of the relative orientation of the pair of optical fibers.
Further, the process of calculating the attitude angle of the inertial navigation IMU component relative to the inner gimbal includes:
the autocollimator is used for reflecting the mirror M 0 During auto-collimation, the optical tube coordinate system b and the reflecting mirror M are established by adjusting the optical tube to eliminate the image rotation of auto-collimation cross wires 0 Equation with completely consistent coordinate system, calculating the transformation matrix from the shafting coordinate system to the light pipe coordinate system bAnd azimuth angle psi 0 And pitch angle theta 0 Is a relationship of (2);
the autocollimator is used for reflecting the mirror M 1 In auto-collimation, the reflector M is established 1 An equation of the relative relationship of the coordinate system of (a) and the coordinate system of (b) of the light pipe;
the autocollimator is used for reflecting the mirror M 2 In auto-collimation, the reflector M is established 2 An equation of the relative relationship of the coordinate system of (a) and the coordinate system of (b) of the light pipe;
according to the conversion matrixThe reflecting mirror M 1 Equation of the relative relation of the coordinate system of (c) and the coordinate system of (b) of the light pipe and the mirror (M) 2 Equation for the relative relationship of coordinate system of (c) and light pipe coordinate system b calculates inertial navigation IMU assembly coordinate system to the mirror M 0 Transformation matrix of coordinate system->According to the transformation matrix->And calculating the attitude angle.
Further, the origin of coordinates of the collimator coordinate system b is the lens center of the autocollimator, and three coordinate axes (x b ，y b ，z b )，z b Upward vertical optical axis, y b Along the optical axis direction, x b The axis is determined by the right hand rule;
the shafting coordinate system is o A x A y A z A ，o A At the intersection of the azimuth axis and the pitch axis, when z a 、x f When the rotation angle is 0, z A And z a Overlap, x A And x f Overlap, y A The axis is determined by the right hand rule;
the reflecting mirror M 0 The coordinate system is o 0 x 0 y 0 z 0 ，x 0 And x f Parallel, y 0 Coincident with the mirror normal, when z a 、x f O when the rotation angle is 0 0 x 0 y 0 z 0 Direction o A x A y A z A The directions of the axes are consistent;
the reflecting mirror M 1 Is o in the coordinate system 1 x 1 y 1 z 1 ，y 1 Shaft and mirror M 1 The normal lines are parallel;
the reflecting mirror M 2 Coordinate system of (2) is o 2 x 2 y 2 z 2 ，z 2 Shaft and M 2 Normal lines are parallel, each axis direction is parallel to o imu x imu y imu z imu Parallel.
Further, the conversion matrixThe calculation formula of (2) is as follows:
further, the reflecting mirror M 1 The equation for the relative relationship of the coordinate system of (c) and the coordinate system of (b) of the light pipe is:
wherein the reflecting mirror M 1 In the process of rotating the coordinate system of (a) to the coordinate system of (b), Δγ is the mirror M 2 Is around y 1 The angle of rotation of the shaft.
Further, the reflecting mirror M 2 The equation for the relative relationship of the coordinate system of (c) and the coordinate system of (b) of the light pipe is:
wherein the reflecting mirror M 2 In the process of rotating the coordinate system of (a) to the coordinate system of (b), deltapsi is the mirror M 2 Is around z 2 The angle of rotation of the shaft.
Adopts the above methodThe further proposal has the beneficial effects that by defining the autocollimator and the reflector M 0 Mirror M 1 Mirror M 2 The system comprises a shaft system angle measuring unit, a shaft system angle measuring unit and a shaft system coordinate system of the inertial navigation device, wherein the shaft system coordinate system of the inertial navigation device determines a coordinate conversion matrix among the shaft system coordinate systems according to the azimuth relation of each coordinate system, and an equation is established according to the azimuth angle and the pitch angle measured by the shaft system angle measuring unit of the inertial navigation device in each state, so that the attitude angle of the inertial navigation IMU component relative to the inner ring frame can be obtained, and the calculation process is simple and quick; the number of shafting of the inertial navigation device can be two or three; when the inertial navigation is three-axis, one axis can be fixed, and the two axes are adopted to realize the measurement and calculation of the attitude angle of the inertial navigation IMU component relative to the inner ring frame, and the three axes can also be simultaneously used, and the measurement and calculation of the attitude angle of the inertial navigation IMU component relative to the inner ring frame can be realized by slightly transforming a calculation formula.
Drawings
Fig. 1 is a schematic structural diagram of a measurement device for an attitude angle of an inertial navigation IMU assembly relative to an inner ring frame and an inertial navigation device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a coordinate system definition and a relative position relationship according to an embodiment of the present invention;
FIG. 3 shows an auto-collimator pair mirror M according to an embodiment of the present invention 0 Schematic diagram of a coordinate system during auto-collimation;
FIG. 4 shows an auto-collimator pair mirror M according to an embodiment of the present invention 1 An auto-collimation coordinate system schematic diagram;
FIG. 5 shows an auto-collimator pair mirror M according to an embodiment of the present invention 2 An auto-collimation coordinate system is schematically shown.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
The existing calibration method of inertial navigation IMU components relative to the attitude angle of an inner ring frame requires that a carrier for installing inertial navigation is static, a gyro theodolite or a theodolite to be used is required to be adjusted to be in a horizontal state, and the calibration method cannot be implemented on a dynamic carrier (such as a traveling ship or a ship in a mooring state), and has great limitation. When the repeated installation precision of the IMU component is improved through the mechanism design, the repeated installation error cannot be completely eliminated, and the course and posture change values after reinstallation and replacement cannot be given; the requirement on the machining precision of the parts is high; the volume and weight of the inertial navigation device may increase.
Fig. 1 is a schematic structural diagram of a measurement device for an attitude angle of an inertial navigation IMU assembly relative to an inner gimbal, and an inertial navigation apparatus according to the present invention, where as can be seen from fig. 1, the measurement device includes: autocollimator, reflector M 0 Mirror M 1 And a reflecting mirror M 2 . The inertial navigation device is provided with an azimuth axis and a pitch axis, and can output an azimuth angle and a pitch angle.
Mirror M 0 The device is arranged on the outer side of one side edge of the inner ring frame of the inertial navigation device; mirror M 0 Is perpendicular to the pitch axis of the inertial navigation device.
Mirror M 1 And a reflecting mirror M 2 Are respectively arranged on two adjacent surfaces of the inertial navigation IMU component; mirror M 1 And a reflecting mirror M 2 Is perpendicular to each other.
The azimuth axis and the pitching axis of the inertial navigation device are rotated, so that the autocollimator can respectively align with the reflecting mirror M 0 Mirror M 1 And a reflecting mirror M 2 Autocollimation.
Specifically, when the autocollimator is erected, the autocollimator can be directly or fixedly arranged on the base of the outer shell of the double-shaft inertial navigation device through transfer connection.
Further, the autocollimator is respectively opposite to the reflecting mirror M 0 Mirror M 1 And a reflecting mirror M 2 And during auto-collimation, the shafting angle measurement unit of inertial navigation respectively measures and outputs azimuth angles and pitch angles of all states.
The embodiment of the invention also provides a measuring and calculating method for the attitude angle of the inertial navigation IMU component relative to the inner ring frame based on the measuring device, which comprises the following steps:
using autocollimator pairs of mirrors M 0 Autocollimation, the lower part of the state is obtained through a shafting angle measurement unitPotential angle psi 0 And pitch angle theta 0 。
The azimuth axis and the pitching axis of the inertial navigation device are rotated, and the autocollimator is utilized to align the reflecting mirror M 1 Autocollimation, the azimuth angle psi in the state is obtained through the shafting angle measurement unit 1 And pitch angle theta 1 The method comprises the steps of carrying out a first treatment on the surface of the Using autocollimator pairs of mirrors M 2 Autocollimation, the azimuth angle psi in the state is obtained through the shafting angle measurement unit 2 And pitch angle theta 2 。
According to a reflecting mirror M 0 Mirror M 1 And a reflecting mirror M 2 And calculating the attitude angle of the inertial navigation IMU component relative to the inner ring frame according to the relative direction and the azimuth angle and the pitch angle of the inertial navigation IMU component in each state.
The invention provides a measuring device and a measuring and calculating method for the attitude angle of an inertial navigation IMU component relative to an inner ring frame, which fully utilize a rotary shaft system and an angle measuring unit of double-shaft inertial navigation, measure the attitude and the heading of the IMU through an autocollimation light pipe and a plane reflector, obtain the attitude angle of the IMU component relative to the inner ring frame of the shaft system after resolving, obtain the variation of the attitude angle of the IMU component relative to the inner ring frame of the shaft system after repeated installation or replacement, so as to compensate the heading and the attitude of the inertial navigation; breaks through the limitation of static conditions of the carrier required during attitude and heading calibration, and improves the maintainability and the fittability of the equipment; the auto-collimation tube is small in size and convenient to carry and install, overcomes inconvenience of field operation, can be used for monitoring course and posture change of the IMU component caused by ageing shape of the rubber shock absorber or other reasons in the long-term working process, and can be used for compensation and correction, and navigation accuracy is improved.
Example 1
The embodiment 1 provided by the invention is an embodiment of a method for measuring and calculating the attitude angle of an inertial navigation IMU component relative to an inner ring frame, which is based on the device for measuring the attitude angle of the inertial navigation IMU component relative to the inner ring frame provided by the embodiment of the invention, and the shafting structure form of inertial navigation equipment can be an external azimuth type, an internal pitching type (theodolite type) or an external pitching type and an internal azimuth type.
The number of shafting of the inertial navigation device can be two or three. When the inertial navigation is three-axis, one axis can be fixed, and the two axes are adopted to realize the measurement and calculation of the attitude angle of the inertial navigation IMU component relative to the inner ring frame, and the three axes can also be simultaneously used, and the measurement and calculation of the attitude angle of the inertial navigation IMU component relative to the inner ring frame can be realized by slightly transforming a calculation formula.
Specifically, an embodiment of the measurement calculation method includes:
defining each coordinate system, as shown in FIG. 2, which is a schematic diagram of the relation between the definition of the coordinate system and the relative position provided by the embodiment of the present invention, as shown in FIG. 3, which is a diagram of the autocollimator-to-reflector M provided by the embodiment of the present invention 0 FIG. 4 is a schematic diagram of an auto-collimation coordinate system, which is an auto-collimation light pipe pair mirror M according to an embodiment of the present invention 1 An auto-collimation coordinate system is schematically shown in FIG. 5, which shows an auto-collimation light pair mirror M according to an embodiment of the present invention 2 The auto-collimation coordinate system is schematically shown in conjunction with fig. 2-5, and the coordinate system includes: azimuth ring coordinate system a of azimuth axis of inertial navigation device, light pipe coordinate system b of autocollimator, pitching ring coordinate system f of pitching axis of inertial navigation device, shafting coordinate system of inertial navigation device, reflector M 0 Coordinate system, mirror M 1 Coordinate system of (a), mirror M 2 And IMU assembly coordinates.
Specifically, an azimuth ring coordinate system a of an azimuth axis of the inertial navigation device is fixedly connected with the azimuth axis of the inertial navigation device, and z a The axis is along the azimuth axis, and the azimuth ring coordinate system a can only wind z a Rotated, producing azimuth angle ψ.
The origin of coordinates of the collimator coordinate system b is the lens center of the autocollimator, and the three coordinate axes (x b ，y b ，z b )，z b Upward vertical optical axis, y b Along the optical axis direction, x b The axis is determined by the right hand rule.
Pitch ring coordinate system f is fixedly connected with pitch axis, and x f The axis being along the pitch axis, the f-system being wound only about x f Rotates to produce a pitch angle θ.
The shafting coordinate system is o A x A y A z A ，o A Is positioned on azimuth axis and pitch axisAt the intersection of z a 、x f When the rotation angle is 0, z A And z a Overlap, x A And x f Overlap, y A The axis is determined by the right hand rule.
Mirror M 0 The coordinate system is o 0 x 0 y 0 z 0 ，x 0 And x f Parallel, y 0 Coincident with the mirror normal, when z a 、x f O when the rotation angle is 0 0 x 0 y 0 z 0 Direction o A x A y A z A The directions of the axes are consistent.
Mirror M 1 Is o in the coordinate system 1 x 1 y 1 z 1 ，y 1 Shaft and mirror M 1 The normals are parallel.
Mirror M 2 Coordinate system of (2) is o 2 x 2 y 2 z 2 ，z 2 Shaft and M 2 Normal lines are parallel, each axis direction is parallel to o imu x imu y imu z imu Parallel.
The IMU component coordinate system is defined as o imu x imu y imu z imu Located at the center of the IMU.
Defining the mirror M by a coordinate transformation matrix between the respective coordinate systems 0 Mirror M 1 And a reflecting mirror M 2 Is a function of the relative orientation of the pair of optical fibers.
The coordinate transformation matrix corresponding to the basic rotation of each shafting is as follows:
the azimuth axis alpha rotates psi relative to the coordinate system A, and the coordinates are transformed into:
the pitch axis f rotates θ, and the coordinates are transformed into:
the transverse roller r rotates gamma, and the coordinates are converted into:
the base is fixedly connected with the light pipe. After the shafting coordinate system A rotates for a limited time, the shafting coordinate system A is consistent with the light pipe coordinate system, and a conversion matrix is set asSet IMU coordinate system to M 0 The transformation matrix of the coordinate system is +.>
Using autocollimator pairs of mirrors M 0 Autocollimation, the azimuth angle psi in the state is obtained through the shafting angle measurement unit 0 And pitch angle theta 0 The image rotation of the auto-collimation cross wire is eliminated by adjusting the light pipe, and a light pipe coordinate system b and a reflecting mirror M are established 0 Equation with completely consistent coordinate system, calculating transformation matrix from shafting coordinate system to light pipe coordinate system bAnd azimuth angle psi 0 And pitch angle theta 0 Is a relationship of (3).
Specifically, the azimuth axis a and the pitching axis f are rotated to enable the reflecting mirror M on the inner ring frame of the light pipe 0 Auto-collimation according to the state of FIG. 3, where y 0 And y is b Coinciding, the angle reading of the shafting is [ phi ] 0 θ 0 0]At the same time, the image rotation of the auto-collimation cross wire can be eliminated by adjusting the light pipe, so that the coordinate system b of the light pipe and the reflecting mirror M 0 The coordinate systems are identical. The method can obtain the following steps:
solving the above equation (5) to obtain a conversion matrixThe calculation formula of (2) is as follows:
the azimuth axis and the pitching axis of the inertial navigation device are rotated, and the autocollimator is utilized to align the reflecting mirror M 1 Autocollimation, the azimuth angle psi in the state is obtained through the shafting angle measurement unit 1 And pitch angle theta 1 Build mirror M 1 An equation of the relative relationship of the coordinate system of (a) and the coordinate system of (b) of the light pipe; using autocollimator pairs of mirrors M 2 Autocollimation, the azimuth angle psi in the state is obtained through the shafting angle measurement unit 2 And pitch angle theta 2 Build mirror M 2 An equation of the relative relationship of the coordinate system of (c) and the coordinate system of (b) of the light pipe.
Specifically, the azimuth axis a and the pitching axis f are rotated to enable the light pipe and the reflecting mirror M on the IMU component 1 Auto-collimation is performed according to the state of fig. 4. At this time, y b And y is 1 Is the negative direction coincidence of the angle measurement reading [ phi ] 1 θ 1 0]。
Theoretically, mirror M 1 The coordinate system of (2) rotates around the axis by an angle delta gamma to eliminate the image rotation, and then the coordinate system of (B) can be consistent with the coordinate system of (B) when rotating around the axis by 180 degrees. Thus, there are:
the reflector M can be obtained 1 The equation for the relative relationship of the coordinate system of (c) and the coordinate system of (b) of the light pipe is:
wherein the reflecting mirror M 1 In the process of rotating the coordinate system of (a) to the coordinate system of (b), Δγ is the mirror M 2 Is around y 1 The angle of rotation of the shaft.
Specifically, the azimuth axis a and the pitching axis f are rotated to enable the light pipe to beWith mirrors M on IMU assemblies 2 Auto-collimation is performed according to the state of fig. 5. At this time, y b And z 2 Is the negative direction coincidence of the angle measurement reading [ phi ] 2 θ 2 0]。
Theoretically, mirror M 2 Is rewound z in the coordinate system of (2) 2 The rotation angle delta phi of the shaft eliminates the image rotation and then winds x 2 The axis rotates by-90 deg., which can be completely consistent with the light pipe coordinate system b, so there is:
the reflector M can be obtained 2 The equation for the relative relationship of the coordinate system of (c) and the coordinate system of (b) of the light pipe is:
wherein the reflecting mirror M 2 In the process of rotating the coordinate system of (a) to the coordinate system of (b), deltapsi is the mirror M 2 Is around z 2 The angle of rotation of the shaft.
According to the conversion matrixMirror M 1 Equation of the relative relation of the coordinate system of (c) and the coordinate system of (b) of the light pipe and the mirror (M) 2 Equation for the relative relationship of coordinate system of (c) and light pipe coordinate system b to calculate inertial navigation IMU assembly coordinate system to mirror M 0 Transformation matrix of coordinate system->According to the conversion matrix->And calculating an attitude angle.
Mirror M 1 Equation of the relative relation of the coordinate system of (c) and the coordinate system of (b) of the light pipe and the mirror (M) 2 The equation of the relative relationship of the coordinate system of (a) and the coordinate system of (b) of the light pipe contains Deltay,Δψ sumIncluded IMU component relative to inner ring frame attitude angle phi x 、φ y 、φ z A total of 5 unknown amounts can be determined>Specific values.
Wherein, an attitude angle phi of the IMU component relative to the inner ring frame is set x 、φ y 、φ z All are at small angles, and inertial navigation IMU component coordinate system is transmitted to reflector M 0 Conversion matrix of coordinate systemThe method comprises the following steps:
in the biaxial inertial navigation system, the mirror M is set in the illustrated coordinate system 0 、M 1 、M 2 In auto-collimation, other corresponding states of the axis may exist depending on the mirror M 0 、M 1 、M 2 And setting the axial positive direction of the shafting coordinate system of the light pipe, and listing corresponding equations according to the analysis method to obtain corresponding solutions.
Further, an autocollimator pair mirror M 0 Mirror M 1 Or a reflecting mirror M 2 When the degree of the autocollimation is not zero during autocollimation, the reading value of the autocollimation is calculated into the angle measurement reading of the azimuth angle and the pitch angle through corresponding operation.
And by rotating the autocollimator, the autocollimator cross light is overlapped with the cross wires on the light pipe dividing plate, and the image rotation is eliminated.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (6)
1. The measuring and calculating method for the attitude angle of the inertial navigation IMU component relative to the inner ring frame based on the measuring device is characterized in that the measuring device comprises the following steps: autocollimator, reflector M 0 Mirror M 1 And a reflecting mirror M 2 ；
The reflecting mirror M 0 The device is arranged on the outer side of one side edge of the inner ring frame of the inertial navigation device;
the reflecting mirror M 1 And a reflecting mirror M 2 Are respectively arranged on two adjacent surfaces of the inertial navigation IMU component;
the azimuth axis and the pitching axis of the inertial navigation device are rotated, so that the autocollimator can respectively align with the reflecting mirror M 0 Mirror M 1 And a reflecting mirror M 2 Autocollimation;
the autocollimator is respectively opposite to the reflecting mirror M 0 Mirror M 1 And a reflecting mirror M 2 During auto-collimation, the shafting angle measurement unit of the inertial navigation device respectively measures and outputs azimuth angles and pitch angles of all states;
the measurement calculation method comprises the following steps:
the autocollimator is used for reflecting the mirror M 0 Autocollimation, the azimuth angle psi in the state is obtained through the shafting angle measurement unit 0 And pitch angle theta 0 ；
Rotating the azimuth axis and the pitching axis of the inertial navigation device, and utilizing the autocollimator to align the reflecting mirror M 1 Autocollimation, the azimuth angle psi in the state is obtained through the shafting angle measurement unit 1 And pitch angle theta 1 The method comprises the steps of carrying out a first treatment on the surface of the The autocollimator is used for reflecting the mirror M 2 Autocollimation, the azimuth angle psi in the state is obtained through the shafting angle measurement unit 2 And pitch angle theta 2 ；
According to the reflecting mirror M 0 Mirror M 1 And a reflecting mirror M 2 Calculating the attitude angle of the inertial navigation IMU component relative to the inner ring frame according to the relative direction and the azimuth angle and the pitch angle of the inertial navigation IMU component in each state;
said according to saidMirror M 0 Mirror M 1 And a reflecting mirror M 2 In the process of calculating the attitude angle of the inertial navigation IMU component relative to the inner ring frame according to the relative direction and the azimuth angle and the pitch angle in each state:
defining respective coordinate systems, the coordinate systems comprising: a light pipe coordinate system b of the auto-collimation light, a shafting coordinate system of inertial navigation equipment and a reflecting mirror M 0 Coordinate system, mirror M 1 Coordinate system of (c) and mirror M 2 Is a coordinate system of (2);
defining the mirror M by a coordinate transformation matrix between the respective coordinate systems 0 Mirror M 1 And a reflecting mirror M 2 Is the relative direction of (2);
the process of calculating the attitude angle of the inertial navigation IMU component relative to the inner ring frame comprises the following steps:
the autocollimator is used for reflecting the mirror M 0 During auto-collimation, the optical tube coordinate system b and the reflecting mirror M are established by adjusting the optical tube to eliminate the image rotation of auto-collimation cross wires 0 Equation with completely consistent coordinate system, calculating the transformation matrix from the shafting coordinate system to the light pipe coordinate system bAnd azimuth angle psi 0 And pitch angle theta 0 Is a relationship of (2);
the autocollimator is used for reflecting the mirror M 1 In auto-collimation, the reflector M is established 1 An equation of the relative relationship of the coordinate system of (a) and the coordinate system of (b) of the light pipe;
the autocollimator is used for reflecting the mirror M 2 In auto-collimation, the reflector M is established 2 An equation of the relative relationship of the coordinate system of (a) and the coordinate system of (b) of the light pipe;
according to the conversion matrixThe reflecting mirror M 1 Equation of the relative relation of the coordinate system of (c) and the coordinate system of (b) of the light pipe and the mirror (M) 2 Equation calculation inertial navigation IMU group of relative relation between coordinate system of (C) and coordinate system of light pipe (B)Part coordinate system to the mirror M 0 Transformation matrix of coordinate system->According to the transformation matrix->And calculating the attitude angle.
2. The measurement calculation method according to claim 1, wherein the autocollimator is directed to the mirror M 0 Mirror M 1 Or a reflecting mirror M 2 And when the degree of the autocollimation light pipe is not zero during autocollimation, the reading value of the autocollimation light pipe is calculated into the angle measurement reading of the azimuth angle and the pitch angle through corresponding operation.
3. The measurement calculation method according to claim 1, wherein the origin of coordinates of the light pipe coordinate system b is a lens center of the autocollimator, and three coordinate axes (x b ，y b ，z b )，z b Upward vertical optical axis, y b Along the optical axis direction, x b The axis is determined by the right hand rule;
the shafting coordinate system is o A x A y A z A ，o A At the intersection of the azimuth axis and the pitch axis, when z a 、x f When the rotation angle is 0, z A And z a Overlap, x A And x f Overlap, y A The axis is determined by the right hand rule;
the reflecting mirror M 0 The coordinate system is o 0 x 0 y 0 z 0 ，x 0 And x f Parallel, y 0 Coincident with the mirror normal, when z a 、x f O when the rotation angle is 0 0 x 0 y 0 z 0 Direction o A x A y A z A The directions of the axes are consistent;
the reflecting mirror M 1 Coordinates of (c)Is o 1 x 1 y 1 z 1 ，y 1 Shaft and mirror M 1 The normal lines are parallel;
the reflecting mirror M 2 Is o in the coordinate system 2 x 2 y 2 z 2 ，z 2 Shaft and M 2 Normal lines are parallel, each axis direction is parallel to o imu x imu y imu z imu Parallel.
4. A measurement calculation method according to claim 3, wherein the transformation matrix C A b is calculated as follows:
5. a measurement calculation method according to claim 3, characterized in that the mirror M 1 The equation for the relative relationship of the coordinate system of (c) and the coordinate system of (b) of the light pipe is:
wherein the reflecting mirror M 1 In the process of rotating the coordinate system of (a) to the coordinate system of (b), Δγ is the mirror M 2 Is around y 1 The angle of rotation of the shaft.
6. A measurement calculation method according to claim 3, characterized in that the mirror M 2 The equation for the relative relationship of the coordinate system of (c) and the coordinate system of (b) of the light pipe is:
wherein the reflecting mirror M 2 In the process of rotating the coordinate system of (a) to the coordinate system of (b), deltapsi is the mirror M 2 Is around z 2 The angle of rotation of the shaft.
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