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Multi-degree-of-freedom combined attitude measurement method and device

A measurement method and measurement device technology, applied in the direction of navigation calculation tools, etc., can solve the problems that the orthogonal coordinate system is difficult to obtain the overall measurement accuracy, high overall measurement accuracy, and large regional errors, so as to improve the signal-to-noise ratio of the original signal and the overall The effect of measurement accuracy

Active Publication Date: 2018-03-06
XI'AN PETROLEUM UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] Analyzing the error of orthogonal attitude measurement, it can be known that: when the angle of inclination is small, r gx 、r gy is very large, indicating that it is difficult for the conventional orthogonal coordinate system to obtain high overall measurement accuracy; gz large, while r gx 、r gy There are singular points alternately, indicating that the conventional orthogonal coordinate system is also difficult to obtain high overall measurement accuracy; when the attitude is at an intermediate tilt angle, the conventional orthogonal coordinate system still has singular points, and the error in some areas is still large, and it is still necessary to improve the overall measurement accuracy. measurement accuracy

Method used

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Effect test

Embodiment 1

[0031] First, take the center O of the sensor detection element located in the middle of the device under test as the origin, the axis parallel to the gravity direction as the Z axis, and the other two axes parallel to the non-gravity direction of the geographical coordinate system as the X and Y axes to establish the first The first instrument coordinate system is OXYZ, and the geographical coordinate system is the NW sky coordinate system.

[0032] Then, rotate the geographic coordinate system counterclockwise around the axis parallel to its gravity direction by an angle of θ, θ=45°, to form the second instrument coordinate system OMNZ, and the other two axes orthogonal to the Z axis are M and N axes;

[0033] Then, the geographic coordinate system is rotated counterclockwise by an angle of θ around the X axis parallel to its non-gravity direction to form the third instrument coordinate system OXPQ, and the other two axes orthogonal to the X axis are P and Q axes;

[0034] F...

Embodiment 2

[0049] First, take the center O of the sensor detection element located in the middle of the device under test as the origin, the axis parallel to the gravity direction as the Z axis, and the other two axes parallel to the non-gravity direction of the geographical coordinate system as the X and Y axes to establish the first An instrument coordinate system OXYZ, geographic coordinate system selection Northwest days Coordinate System.

[0050] Then, rotate the geographical coordinate system clockwise around the axis parallel to its gravity direction by an angle of θ, θ=135°, to form the second instrument coordinate system OMNZ, and the other two axes orthogonal to the Z axis are M and N axes;

[0051] Next, the geographic coordinate system is rotated clockwise by an angle θ around the Y axis parallel to its non-gravity direction to form the third instrument coordinate system OSYT, and the other two axes orthogonal to the Y axis are S and T axes;

[0052] Finally, the inclinati...

Embodiment 3

[0067] First, take the center O of the sensor detection element located in the middle of the device under test as the origin, the axis parallel to the gravity direction as the Z axis, and the other two axes parallel to the non-gravity direction of the geographical coordinate system as the X and Y axes to establish the first The first instrument coordinate system is OXYZ, and the geographical coordinate system is the North East coordinate system.

[0068] Then, rotate the geographical coordinate system clockwise around the axis parallel to its gravity direction by an angle of θ, θ=-135°, to form the second instrument coordinate system OMNZ, and the other two axes orthogonal to the Z axis are M and N axes;

[0069] Next, rotate the geographical coordinate system clockwise around the X-axis parallel to its non-gravity direction by an angle of θ to form the third instrument coordinate system OXPQ, and the other two axes orthogonal to the X-axis are P and Q axes;

[0070] Finally, ...

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Abstract

The invention discloses a multi-degree-of-freedom combined attitude measurement method and device. A set of (three-degree-of-freedom) attitude sensors are mounted on three axes of a measurement instrument coordinate system OXYZ initially coinciding with a conventional orthogonal geographic coordinate system, the orthogonal geographic coordinate system is rotated around an axis parallel to a gravity direction once to form a second instrument coordinate system OMNZ, a set of (two-degree-of-freedom) attitude sensors are mounted in M-axis and N-axis directions, the orthogonal geographic coordinate system is rotated around an axis not parallel to the gravity direction once to form a third instrument coordinate system OXPQ or OSYT, and a set of (two-degree-of-freedom) attitude sensors are mounted in P-axis and Q-axis directions or S-axis and T-axis directions, so that the multi-degree-of-freedom combined attitude measurement device is obtained. Therefore, in any attitude position, two sensors in at least one instrument coordinate system can output attitude measurement signals with relatively large amplitudes, the original signal-to-noise ratio of attitude measurement is increased, and the overall measurement precision is improved.

Description

technical field [0001] The invention is applied to petroleum engineering, aerospace, aviation and navigation, belongs to the field of precision measuring instruments, and particularly relates to a multi-freedom combined attitude measurement method and device. Background technique [0002] Accurate attitude measurement is the basis of oil exploration and aircraft navigation, guidance and control, and it plays a very important role in the increasingly fierce competition at home and abroad for oil energy exploration and national defense and military fields. Attitude inertial measurement and control technology is an important symbol to measure a country's cutting-edge technology level, and the accuracy requirements are getting higher and higher; while the conventional orthogonal coordinate system adopted has many relative error singularities in the full range of angles, and the overall accuracy distribution is discrete. Improved design and correction compensation can improve par...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 程为彬郭颖娜宋久旭康思民魏娜高理朱凯然
Owner XI'AN PETROLEUM UNIVERSITY