Axis Perpendicularity Detection Method of Three-axis Turntable Based on Laser Gyro Strapdown Inertial Navigation

Abstract

The invention discloses a three-axis turntable axis perpendicularity detection method based on laser gyro strap-down inertial navigation, comprising a laser gyro strap-down inertial navigation system, a three-axis turntable, a three-axis turntable attitude acquisition system, an inertial navigation system output attitude acquisition system, and a data processing computer. The laser gyro strap-down inertial navigation system is fixedly installed on the table board of the detected three-axis turntable. Axis perpendicularity detection of the three-axis turntable is completed by acquiring angular attitude output of the three-axis turntable and attitude measurement information of the laser gyro strap-down inertial navigation system and based on the principle that the rotation vector increment of a fixedly-connected rigid body is not affected by the measurement point. The method can be used to detect the axis perpendicularity of any two axes of a three-axis turntable, and has the advantages of high detection precision, simple system composition and operation, a wide scope of application, and the like.

Description

technical field [0001] The invention relates to the detection of the perpendicularity of the axis of a three-axis turntable, in particular to a method for detecting the perpendicularity of the axis of a three-axis turntable by using a laser gyro strapdown inertial navigation system. Background technique [0002] The three-axis turntable is an indispensable and important equipment in aviation, aerospace, navigation, metrology and other fields. It is often used as a performance test, error calibration, simulation experiment and working platform for precision instruments such as inertial instruments and inertial navigation systems. [0003] The axis verticality of the turntable is an important indicator of the three-axis turntable. The usual detection method is to install a reflector on the measured axis, read the measured value of the installed photoelectric autocollimator by changing the relative angle between the measured axis and the fixed axis, and finally perform data pro...

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Problems solved by technology

The principle of this method is clear, but the on-site test needs to dismantle the turntable parts, install the reflector, set up the photoelectric autocollimator, and require the ambient temperature to be relatively stable

On the other hand, this detection method can only measure the axis perpendicularity of the inner frame / middle frame and the middle frame / outer frame of the table, and cannot directly measure the axis perpendicularity of the inner frame / outer frame, so it is easy to cause the axis of the three-axis turntable not two perpendicular

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