Three-axis air floating platform attitude measuring device based on photoelectric tracking technology and measuring method

Abstract

The invention provides a three-axis air floating platform attitude measuring device based on photoelectric tracking technology and a measuring method thereof. The inner wall of an instrument platform is provided with a mark point, a cubic prism is vertically arranged above the instrument platform, two laser collimators are vertically arranged, when the mark point is located in the center of a camera, the two laser collimators respectively directly face two adjacent surfaces of the cubic prism, a turntable inner ring is arranged between an air floating platform base and a turntable middle ring, two sides of the turntable inner ring are in rotary connection by the turntable inner ring and the turntable middle ring, and the camera is fixed on the turntable inner ring. The method is as follows: light emitted by the laser collimators is reflected by the cubic prism for enlargement of small angle deviation, the laser collimator horizontally placed along Y axis is used for measuring an initial X direction and Z direction avertence angle of the platform, the laser collimator horizontally placed along X axis is used for measuring a Z direction and Y direction avertence angle of the platform, and through the combination of the two laser collimators for measurement, measurement errors caused by various factors can be corrected.

Description

technical field [0001] The invention relates to a three-axis air-floor platform attitude measurement device and a measurement method based on photoelectric tracking technology, and belongs to the technical field of three-axis air-floor platform attitude measurement devices and methods. Background technique [0002] The three-dimensional angle measuring device is to install angle measuring elements on the three-dimensional moving device to realize the three-dimensional posture measurement of the moving device. Existing three-dimensional high-precision angle measurement systems mainly include inertial measurement devices and optical measurement devices. [0003] Inertial measurement device: The inertial attitude measurement device is mainly a gyroscope, including mechanical gyroscope, laser gyroscope, fiber optic gyroscope, vibrating gyroscope, etc. Traditional mechanical gyroscopes include two-degree-of-freedom and three-degree-of-freedom mechanical gyroscopes, which have co...

AI Technical Summary

Problems solved by technology

But it is only suitable for small angle measurement, and the application range is very limited

[0005] The traditional mechanical gyroscope has complex structure and low precision, while the optical gyroscope has high precision and small and compact structure, but it is difficult to be widely used due to its high price.

[0006] The highest precision of the laser tracker used in the patent "Laser Tracker Target Ball Positioning System Based on Inertial Detection" is 0.01°, which cannot meet the requirements of high-precision angle measurement

At the same time, the laser tracker has some shortcomings in efficiency and convenience. It is impossible to realize automatic measurement and positioning with a single laser tracker. It requires the staff to manually guide the light, and the measurement efficiency is low.

In addition, it is inevitable that the light will be blocked during the movement or the incident laser angle exceeds the range, which will lead to light interruption and affect the measurement progress.

At present, there is a vision-based laser tracker measurement and positioning system, but it also has the problem of light occlusion

If occlusion occurs during the measurement, it is necessary to return to the previously known point to re-plan the trajectory, which will affect the measurement progress

[0007] Although the high-precision three-dimensional small-angle simultaneous measurement method proposed in the document "A High-precision Three-dimensional Small-angle Simultaneous Measurement Method" can achieve high accuracy, the measurement range is only 1000", which is greatly limited and cannot meet the requirements of the attitude angle. Application when there are large changes

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