A method for evaluating comprehensive pointing error of three-axis turntable
A three-axis turntable, pointing error technology, applied in measuring devices, instruments, etc., can solve the problems of not giving error terms and comprehensive pointing error expressions, etc.
Active Publication Date: 2021-06-01
HARBIN INST OF TECH
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Problems solved by technology
The literature "Research on Error of Three-axis Flight Simulator Turntable" (Journal of System Simulation, Xiao Weiguo, 200105) etc. proposed the calculation formula of pointing error, but did not give the specific expression of error term and comprehensive pointing error
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Embodiment 1
[0047] Such as figure 1 As shown, the vertical three-axis turntable has three rotation axes, which are the outer ring axis 1 of the three-axis turntable, the middle ring axis 2 of the three-axis turntable, and the inner ring axis 3 of the three-axis turntable from outside to inside. Install the vertical three-axis turntable On the foundation, the inertial instrument 4 to be measured is installed on the installation plane of the inner ring of the three-axis turntable.
[0048] The specific implementation steps of the comprehensive pointing error of the three-axis turntable involved in this example and the evaluation method of the relationship between the main error sources and the comprehensive pointing error between the various axis systems are as follows:
[0049] Step 1: Analyze the main factors affecting the pointing error
[0050] Due to factors such as machining, assembly, environment, etc., there will be various main error sources among the axes of the three-axis turnta...
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The invention provides a method for evaluating the comprehensive pointing error of a three-axis turntable, which belongs to the technical field of geometric measurement and testing. The invention first analyzes the error source of the three-axis turntable, and after considering the characteristics of each error source, the error is transmitted by the direction cosine matrix, and the attitude relationship of the actual inertial instrument coordinate system relative to the geographic coordinate system is obtained. The attitude matrix between the inertial instrument coordinate system and the geographic coordinate system is compared, and the complete expression of the comprehensive pointing error is finally obtained. Then, the Monte-Carlo method is used to randomly generate the rotation angle of each axis and the error of the given three-axis turntable. The value range of the source is simulated, and the influence of various attitude errors on the comprehensive pointing error is analyzed in detail. The invention can analyze the influence of each error item on the comprehensive pointing error, evaluate the pointing error more concisely and intuitively, and can also provide a basis for the distribution of each attitude error in the overall design process of the three-axis turntable.
Description
technical field [0001] The invention relates to a method for evaluating comprehensive pointing errors of a three-axis turntable, and belongs to the technical field of geometric quantity measurement and testing. Background technique [0002] The three-axis turntable is the main test equipment for the accelerometer, gyroscope and inertial navigation system under the gravitational field. The comprehensive pointing error is the deviation between the ideal attitude angle and the actual output attitude angle. It is an important indicator of the accuracy of the turntable and has a great impact on the calibration accuracy of the inertial instrument. With the gradual increase in the performance requirements of the turntable, its comprehensive pointing error assessment is also getting more and more attention. [0003] Comprehensive pointing error refers to the angular deviation between the actual pointing and the nominal pointing after the vector fixed to the inner frame of the turnt...
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IPC IPC(8): G01C25/00
CPCG01C25/00G01C25/005
Inventor 任顺清王孟磊王常虹曾庆双
Owner HARBIN INST OF TECH