CN205808428U - The optical calibrating system of the dynamic navigation performance of IMU - Google Patents

Abstract

The utility model discloses the optical calibrating system of the dynamic navigation performance of a kind of IMU.Single laser displacement sensor is utilized to measure displacement, two laser displacement sensors measure angle, measure IMU in real time under vibration table provides the external environment condition of dynamic navigation performance test, displacement and the angle of measuring IMU in real time of three dimensions, and utilize angle that measurement obtains by PC and displacement information to compare with the output valve of IMU, thus realize the purpose that the dynamic navigation performance of IMU is demarcated.The IMU dynamic navigation performance optical calibration method that the utility model proposes realizes non-cpntact measurement, measures IMU output in real time, carries roomy, and stability is high, has the most wide application prospect.

Description

Optical Calibration System of Inertial Measurement Integrated Dynamic Navigation Performance

technical field

The utility model relates to an optical calibration system for inertia measurement combined with dynamic navigation performance, which belongs to the field of optical sensing and measurement.

technical background

The inertial measurement unit is the core measurement unit of inertial navigation, and its performance determines the navigation accuracy and attitude control accuracy of the carrier. Whether the inertial measurement combination can accurately reflect the actual motion information of the carrier in a dynamic environment is the key to evaluating the performance of the inertial measurement instrument. In order to accurately evaluate the dynamic navigation accuracy and attitude measurement accuracy of the inertial measurement combination under dynamic conditions during the ground test phase, another independent evaluation method needs to be provided to evaluate the navigation and attitude measurement performance of the inertial measurement combination under dynamic conditions over a period of time. In order to ensure the real-time performance of the evaluation, the independent measurement method must be able to synchronize with the measurement time of the inertial measurement combination, and provide the pitch angle, yaw angle, roll angle and three-dimensional displacement information of the inertial measurement combination relative to the initial position in real time, so as to realize the evaluation of the inertial measurement combination Real-time calibration of dynamic performance.

After research, there is currently no high-precision, reliable measurement equipment that uses non-contact optical methods for inertial measurement combined with dynamic information measurement and calibration. The existing calibration methods for angle and displacement are as follows: 1) Use circular grating for angle measurement and line grating for displacement measurement. The advantages are high measurement accuracy, fast response and large dynamic range. The disadvantage is that it cannot be realized. Non-contact measurement, or too far away from the measured object, can not accurately reflect the movement of the measured object; 2) Light curtain measurement method: use two orthogonal light curtains for measurement, and the light curtain blocked by the object has a corresponding By detecting the shape of the object, the deformation of the object is measured, and the angle and displacement are detected in real time according to the deformation. Advantages: Two sets of light curtains can simultaneously measure a variety of information to determine the attitude of the sample between the two sets of projections. Disadvantages: low precision, difficult to guarantee parallel light, small measurement range, not flexible enough; 3) This method needs to install a reflector on three mutually orthogonal surfaces of the measured object to achieve specular reflection of the laser , while the PSD realizes the reception of the reflected laser light, the torsion during the vibration process causes the reflected laser light to enter different positions of the PSD, and the angle of torsion is measured in real time by detecting the position change of the reflected laser light. This method cannot realize non-contact measurement, the device is huge, and the added specular reflector needs to be fixed on the measured object, which has certain damage to the measured object, and the reflector may also be damaged under dynamic conditions. Since the PSD measurement position range and accuracy cannot meet the requirements at the same time, saturation may occur under dynamic conditions. Therefore, this scheme has great limitations.

With the continuous expansion of the industrial measurement field and the continuous improvement of measurement accuracy and measurement speed, the traditional contact measurement cannot meet the demand. The laser displacement sensor based on the laser triangulation method can realize non-contact measurement. This method has the characteristics of non-contact measurement, no damage to the measured surface, high measurement resolution, high precision, and small size. Based on the above advantages of the laser displacement sensor, it is considered to combine the calibration of the laser displacement sensor and the inertial measurement combination, which can calibrate the inertial measurement combination without contact, and simultaneously measure its pitch angle, yaw angle, and roll angle relative to the initial position. and three-dimensional displacement information.

Contents of the invention

The utility model proposes a non-contact system for calibrating the performance of the inertial measurement combination under dynamic conditions based on a laser displacement sensor, which can provide real-time pitch angle, yaw angle, roll angle and three-dimensional displacement information.

The technical scheme of the utility model is as follows:

An optical calibration system for inertial measurement combined dynamic navigation performance includes an optical calibration device and a PC. The first angular displacement measurement component composed of two laser displacement sensors, the second angular displacement measurement component composed of the third laser displacement sensor and the fourth laser displacement sensor, the third angular displacement composed of the fifth laser displacement sensor and the sixth laser displacement sensor Measuring components; the one-dimensional vibration table is fixed on the surface of the horizontal vibration isolation platform, the three angular displacement measurement components are fixed on the surface of the horizontal vibration isolation platform, the inertial measurement combination to be measured is fixed on the surface of the one-dimensional vibration table, and the three angular displacement measurement components are arranged It is used to measure the three-dimensional displacement, pitch angle, roll angle and yaw angle of the inertial measurement combination to be measured around the inertial measurement combination to be measured; the one-dimensional vibration table can produce one-dimensional vibration in the Y direction, and its surface is parallel to XY plane; the inertial measurement combination to be measured has three mutually orthogonal planes, wherein the first plane is parallel to the XZ plane, the second plane is parallel to the XY plane, and the third plane is parallel to the YZ plane, and the PC passes through The data lines are respectively connected with the three angular displacement measurement components and the inertial measurement combination to be measured.

Further, the first laser displacement sensor and the second laser displacement sensor are parallel to each other and make the two laser beams perpendicularly incident on the first plane of the inertial measurement combination to be measured; the third laser displacement sensor and the fourth laser displacement sensor are mutually Parallel and make the two laser beams vertically incident on the second plane of the inertial measurement combination to be measured; the fifth laser displacement sensor and the sixth laser displacement sensor are parallel to each other and make the two laser beams vertically incident on the third plane of the inertial measurement combination to be measured superior.

The beneficial effect of the utility model is that the utility model realizes the non-contact optical calibration of the dynamic navigation performance of the inertial measurement combination. One-dimensional rotation angle, and then use six-way laser displacement sensor to realize three-dimensional angle and displacement measurement, supplemented by corresponding mechanical adjustment and alignment device, as well as information acquisition and processing system, which can calibrate the dynamic performance of inertial measurement combination in real time. The advantage is that the non-contact measurement is non-destructive to the inertial measurement combination to be tested, and has high measurement accuracy and real-time synchronization, which provides an effective calibration method for the calibration of the dynamic navigation performance of the inertial measurement combination.

Description of drawings

Figure 1 is a diagram of the optical calibration system for the inertial measurement integrated dynamic navigation performance.

detailed description

Describe the utility model in detail below in conjunction with accompanying drawing.

As shown in Figure 1, an optical calibration system for the dynamic navigation performance of an inertial measurement combination includes an optical calibration device and a PC. 3. The first angular displacement measurement assembly 13 composed of the first laser displacement sensor 4 and the second laser displacement sensor 5, the second angular displacement measurement assembly 14 composed of the third laser displacement sensor 6 and the fourth laser displacement sensor 7, the fifth The third angular displacement measurement assembly 15 composed of the laser displacement sensor 8 and the sixth laser displacement sensor 9; the one-dimensional vibration table 2 is fixed on the surface of the horizontal vibration isolation platform 1, and the three angular displacement measurement assemblies are fixed on the surface of the horizontal vibration isolation platform 1, The inertial measurement unit 3 to be measured is fixed on the surface of the one-dimensional shaking table 2, and three angular displacement measurement components are arranged around the inertial measurement unit 3 to be measured to measure the three-dimensional displacement, pitch angle, and roll angle of the inertial measurement unit 3 to be measured. and yaw angle; the one-dimensional vibrating table 2 can produce one-dimensional vibration in the Y direction, and its surface is parallel to the XY plane; the inertial measurement combination 3 to be measured has three mutually orthogonal planes, wherein the first plane 10 is parallel to the XZ plane, the second plane 11 is parallel to the XY plane, and the third plane 12 is parallel to the YZ plane. The PC is respectively connected to the three angular displacement measurement components and the inertial measurement unit 3 to be measured through data lines.

The first laser displacement sensor 4 and the second laser displacement sensor 5 are parallel to each other and make the two laser beams perpendicularly incident on the first plane 10 of the inertial measurement combination 3 to be measured; the third laser displacement sensor 6 and the fourth laser displacement sensor The sensors 7 are parallel to each other and make the two laser beams perpendicularly incident on the second plane 11 of the inertial measurement combination 3 to be measured; the fifth laser displacement sensor 8 and the sixth laser displacement sensor 9 are parallel to each other and make the two laser beams perpendicularly incident on the second plane 11 of the inertial measurement combination 3 to be measured; On the third plane 12 of the IMU 3 .

The optical calibration method using the optical calibration system of the present invention can be as follows:

The plane where the first laser displacement sensor 4 and the second laser displacement sensor 5 are located in the first angular displacement measurement component 13 is parallel to the XY plane, and the distance between them is L ₁ . The two emitted laser beams are parallel to each other and vertical in the initial state. On the first plane 10 of the object to be measured, in the initial state, the displacement measured by the first laser displacement sensor 4 is S ₁ ', and the displacement measured by the second laser displacement sensor 5 is S ₂ ', when the inertial measurement combination to be measured 3 rotation angle around the Z axis time, angle The relationship between the displacement S1 measured by the first laser displacement sensor ₄ , the displacement S2 measured by the _second laser displacement sensor ₅ and the distance L1 between the two laser beams is as follows: By measuring S ₁ , S ₂ and the known L ₁ , measure the motion angle of the inertial measurement unit 3 to be measured around the Z axis in real time, that is, the yaw angle At the same time, the displacement of the inertial measurement unit 3 to be measured along the Y axis can be obtained

The planes where the third laser displacement sensor 6 and the fourth laser displacement sensor 7 are located in the second angular displacement measurement assembly 14 are parallel to the ZY plane, the distance between them is L ₂ , and the two emitted laser beams are parallel to each other, and in the initial state Perpendicular to the second plane 11 of the object to be measured, in the initial state, the displacement measured by the third laser displacement sensor 6 is S ₃ ′, and the displacement measured by the fourth laser displacement sensor 7 is S ₄ ′, when the inertial measurement to be measured When the combination 3 rotates the angle φ around the X axis, the relationship between the angle φ, the displacement S ₃ measured by the third laser displacement sensor 6, the displacement S ₄ measured by the fourth laser displacement sensor 7, and the distance L ₂ between the two laser beams for By measuring S ₃ , S ₄ and the known L ₂ , the movement angle of the inertial measurement unit 3 to be measured around the X-axis is measured in real time, that is, the roll angle φ, and the displacement of the inertial measurement unit 3 to be measured along the Z-axis can be obtained at the same time

The planes where the fifth laser displacement sensor 8 and the sixth laser displacement sensor 9 are located in the third angular displacement measurement assembly 15 are parallel to the ZX plane, the distance between them is L ₃ , and the two emitted laser beams are parallel to each other, and in the initial state Perpendicular to the third plane 12 of the object to be measured, in the initial state, the displacement obtained by the measurement 8 of the fifth laser displacement sensor is S ₅ ′, and the displacement obtained by the measurement of the sixth laser displacement sensor 9 is S ₆ ′, when the inertial measurement to be measured When the combination 3 rotates the angle θ around the Y axis, the relationship between the angle θ, the displacement S ₅ measured by the fifth laser displacement sensor 8 , the displacement S ₆ measured by the sixth laser displacement sensor 9 , and the distance L ₃ between the two laser beams for By measuring S ₅ , S ₆ and the known L ₃ , measure the motion angle of the inertial measurement unit 3 to be measured around the Z axis in real time, that is, the yaw angle θ, and at the same time obtain the displacement of the inertial measurement unit 3 to be measured along the X axis

The PC realizes real-time synchronous acquisition of 6 laser displacement sensor signals and inertial measurement combined signals, and obtains three-dimensional displacement information L _X , L _Y , L _Z and three-dimensional angle information θ, φ, when the one-dimensional shaking table vibrates along the Y axis to test the dynamic conductivity of the inertial measurement unit, the PC synchronously collects the three-dimensional displacement information Ix, Iy, Iz and three-dimensional angle information output by the inertial measurement unit I _θ , I _φ , comparing the two results, the measurement error of the three-dimensional angle and three-dimensional displacement of the inertial measurement unit under dynamic conditions can be obtained as:

The calibration of the dynamic navigation performance of the inertial measurement combination can be realized, that is, the performance of the inertial measurement combination can be evaluated.

Claims (2)

1. the optical calibrating system of the dynamic navigation performance of IMU, it is characterised in that comprise optical calibrating device and PC, described optical calibrating device include horizontal seismic isolation platform (1), one-dimensional vibration table (2), IMU to be measured (3), The first angle displacement that first laser displacement sensor (4) and the second laser displacement sensor (5) form measure assembly (13), the Three laser displacement sensors (6) and the 4th laser displacement sensor (7) form second angle displacement measure assembly (14), the 5th Third angle displacement measurement assembly (15) that laser displacement sensor (8) and the 6th laser displacement sensor (9) form；One-dimensional shake Dynamic platform (2) is fixed on horizontal seismic isolation platform (1) surface, and three angle displacements are measured assembly and are fixed on horizontal seismic isolation platform (1) table Face, IMU to be measured (3) is fixed on the surface of one-dimensional vibration table (2), and three angle displacement measurement assemblies are arranged in and treat Survey the surrounding of IMU (3) be used for measuring the three-D displacement of IMU to be measured (3), the angle of pitch, roll angle and Yaw angle；Described one-dimensional vibration table (2) can produce one-dimensional vibration in the Y direction, and its surface is parallel to X/Y plane；Described is to be measured IMU (3) has three mutually orthogonal planes, and wherein the first plane (10) is parallel to XZ plane, the second plane (11) Being parallel to X/Y plane, the 3rd plane (12) is parallel to YZ plane, described PC by data wire respectively with three angle displacements Measure assembly, IMU to be measured (3) is connected.

2. optical calibrating system as claimed in claim 1, it is characterised in that described the first laser displacement sensor (4) and the Dual-laser displacement transducer (5) is parallel to each other and makes two bundle laser vertical incide the of IMU to be measured (3) In one plane (10)；3rd laser displacement sensor (6) and the 4th laser displacement sensor (7) are parallel to each other and make two bundles Laser vertical incides in second plane (11) of IMU to be measured (3)；5th laser displacement sensor (8) and the 6th Laser displacement sensor (9) is parallel to each other and makes two bundle laser vertical incide the 3rd of IMU to be measured (3) In plane (12).