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High-precision method for measuring attitude angle of triaxial air bearing table and measurement device thereof

A technology of measuring device and air bearing table, which is applied in the space field, can solve the problems of complex mechanism and difficulty in achieving high precision, and achieve the effect of shortening the space distance

Active Publication Date: 2012-04-25
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] During the test, the three-axis air bearing table needs to dynamically provide the attitude information such as the angle and angular velocity of the air bearing table through the attitude measurement system in order to complete the closed control loop. (Such as resolver, inductive synchronizer, photoelectric code disc, grating, etc.) are not applicable to the measurement of the three-axis air bearing table, and new measurement methods and devices need to be considered
When the system needs to add a complex mechanical system and sensor system, the mechanism is complex, and its accuracy is limited by the mechanical device and sensor, which can only reach 0.01°, which is difficult to achieve high precision

Method used

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  • High-precision method for measuring attitude angle of triaxial air bearing table and measurement device thereof
  • High-precision method for measuring attitude angle of triaxial air bearing table and measurement device thereof
  • High-precision method for measuring attitude angle of triaxial air bearing table and measurement device thereof

Examples

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Comparison scheme
Effect test

Embodiment 1

[0021] Example 1: Combining figure 1 , the present invention is a high-precision attitude angle measuring device for a three-axis air-floating table, which is composed of a three-axis air-floating table top (1), a three-axis air-floating table spherical air bearing (2), and a three-axis air-floating table bearing base seat (3), marker (4), digital CCD camera (5), artificial lighting system (6), blackout curtain, guide rail (7) and a liftable platform (8) for installing camera and artificial light source, Guide rails and shading curtains are installed around the bottom of the three-axis air flotation table (1), and the artificial lighting system is installed on the liftable platform. The visual measurement space of , the marker (4) is fixed on the bottom plane of the three-axis air bearing table (1), the angular movement of the two is exactly the same, and the liftable platform (8) for installing the camera and artificial light source is installed on the On the three-axis air ...

Embodiment 2

[0028] Example 2: Combining Figure 1-Figure 3 , the present invention mainly consists of the following parts: three-axis air-floation table top (1), three-axis air-floation table spherical surface air bearing (2), three-axis air-floation table bearing base (3), marker (4), A digital CCD camera (5), an artificial light source (6), a blackout curtain guide rail (7), a liftable platform (8) for installing the camera and the artificial light source. The marker (4) is fixed on the bottom plane of the three-axis air bearing table top (1), and the angular movement of the two is exactly the same. The liftable platform (8) is installed on the three-axis air bearing base (3), and can be moved up and down to a suitable position for fixing as required. The camera (5) is installed on the liftable platform (8) to collect image information of each mark on the marker (4), and the artificial light source (6) provides constant and reliable lighting for image collection. The camera is a black...

Embodiment 3

[0029] Embodiment 3: the basic work flow of the present invention is as image 3 As shown, the specific processing method is:

[0030] 1. Calibrate the camera: collect the image of the calibration board and use it as a calibration image to calibrate the camera. The number is more than 4; extract the calibration image and determine the image coordinates of each calibration point on the calibration board; according to the physical size of the calibration board, Determine the world coordinates of each calibration point on the calibration board; for the ideal central perspective imaging model of the camera, according to the above data, use the least square method to obtain the homography matrix H, which reflects the relationship between the world coordinate system and the image coordinate system; The corresponding matrix H can be solved to obtain the internal parameters of the camera, so as to obtain the parameters of the ideal perspective model of the camera; on the basis of the ...

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Abstract

The invention provides a high-precision method for measuring the attitude angle of a triaxial air bearing table and a measurement device thereof. The measurement device is characterized in that: a guide rail and a window shade are arranged at the perimeter of the bottom of the triaxial air bearing table, an artificial illumination system is arranged on a liftable platform, the guide rail of the bottom of the triaxial air bearing table is used for installing the window shade, a marker is fixed on the bottom surface of the table facet of the triaxial air bearing table, a digital CCD camera is arranged on the liftable platform. The measurement method comprises the following steps: marking the digital CCD camera; collecting the images of the marker and transmitting to a computer which is responsible for image processing by the digital CCD camera; carrying out sub-pixel positioning on the mark point on the marker, and acquiring the precise coordinate of the mark point in the image; and calculating the relative attitude angle between the marker and the digital CCD camera. The measurement device has the advantages of simple installation, and high measurement precision, and can complete the high-precision attitude measurement of the air bearing table. The invention also can be used for the precision measurement of a uniaxial air bearing table.

Description

(1) Technical field [0001] The invention relates to space technology, in particular to a method and device for measuring a high-precision attitude angle of a three-axis air bearing platform. (2) Background technology [0002] The three-axis air bearing platform relies on the air film formed between the air bearing and the bearing seat by compressed air to make the simulation platform float, so as to realize the relative motion condition of approximately frictionless, so as to simulate the impact of space vehicles such as satellites in outer space. The mechanical environment with small disturbance torque. As a space vehicle motion simulator, the three-axis air bearing platform is an important means and method in the process of space vehicle development for the full physical simulation experiment of the satellite control system to test the performance of the system. [0003] During the test, the three-axis air-floor table needs to dynamically provide the attitude information ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C1/00
Inventor 夏红伟李莉马广程王常虹陆智俊
Owner HARBIN INST OF TECH
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