Installation error detection method and device for inertial navigation components based on computer vision
A technology of inertial navigation and detection methods, which is applied in the direction of measuring devices and instruments, can solve the problems of time-consuming, cumbersome and labor-intensive processes, and achieve the effect of high accuracy and simple and fast installation errors
Active Publication Date: 2021-03-30
CHINA HELICOPTER RES & DEV INST
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[0003] In the prior art, the quadrant is used to measure the pitch error and roll error. Since the quadrant can only measure the error relative to the horizontal plane, when using it to measure the pitch error and roll error, it is necessary to adjust the carrier aircraft to the horizontal state first. The process It is cumbersome; the laser tracker is used to measure the heading error. When using the laser tracker to measure the heading error, it is necessary to measure the coordinates of the two longitudinal and front and rear holes in the body coordinate system with the aid of precision machining auxiliary tooling. The process is time-consuming and laborious.
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[0046] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the related application, not to limit the application. In addition, it should be noted that, for ease of description, only parts relevant to the present application are shown in the drawings.
[0047] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.
[0048] It should be noted that in the description of this application, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The terms of the indicated direction or positional relationship are based on the direction or positional ...
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The invention belongs to the technical field of installation error measurement of airborne inertial navigation parts, and in particular relates to a method for detecting the installation error of an inertial navigation part based on computer vision. The method comprises the steps: a three-dimensional construction step of performing three-dimensional construction of an installation surface of the inertial navigation part, course characteristics on the installation surface of the inertial navigation part and the carrier datum in the same coordinate system; and an error calculation step of calculating the installation error of the inertial navigation part based on the three-dimensional reconstructed installation surface, course characteristics and carrier datum. Furthermore, the invention relates to a device for detecting the installation error of the inertial navigation part based on computer vision. The device comprises a three-dimensional construction module and an error calculation module; the three-dimensional construction module is used for performing three-dimensional construction of the installation surface of the inertial navigation part, the course characteristics on the installation surface of the inertial navigation part and the carrier datum in the same coordinate system; and the error calculation module is used for calculating the installation error of the inertial navigation part based on the three-dimensional reconstructed installation surface, course characteristics and carrier datum.
Description
technical field [0001] The application belongs to the technical field of installation error measurement of airborne inertial navigation components, and in particular relates to a method and device for detecting installation errors of inertial navigation components based on computer vision. Background technique [0002] The inertial navigation component is the core component of the inertial integrated navigation system, which is used to measure and calculate the attitude, acceleration, speed, position and other navigation parameters of the carrier aircraft in real time. The error needs to be controlled within the allowable error range, and the installation error includes heading error, pitch error, and roll error. [0003] In the prior art, the quadrant is used to measure the pitch error and roll error. Since the quadrant can only measure the error relative to the horizontal plane, when using it to measure the pitch error and roll error, it is necessary to adjust the carrier ...
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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 贺涛李冲辉何权荣何嵘陈江苏
Owner CHINA HELICOPTER RES & DEV INST