Multi-axis turntable angle positioning error detection method based on single-axis laser gyro goniometer

Abstract

The invention discloses a multi-axis turntable angle positioning error detection method based on a single-axis laser gyro goniometer, wherein the method comprises the steps: electrifying the single-axis laser gyro goniometer, preheating for 30 minutes, mounting the single-axis laser gyro goniometer mounted in a fixture on a working table surface of a multi-axis turntable, and calibrating an offset value B0 of the single-axis laser gyro goniometer; rotating the measured shaft of the multi-shaft turntable, and enabling the single-shaft laser gyro goniometer to output corresponding pulses and count the output pulses; according to the scale coefficient K of the single-axis laser gyro goniometer and the output pulse number corresponding to the measured shaft, calculating an angle measurement value [theta]i of the measured shaft measured by the single-axis laser gyro goniometer; performing sine curve fitting on the angle measurement error value [delta][theta]i according to the angle measurement value [theta]i of the measured shaft, and calculating the angle measurement error value [delta][theta]i introduced by earth rotation according to the projection angle of a sensitive shaft of the single-shaft laser gyro goniometer; and eliminating the angle measurement error value [delta][theta]i introduced by earth rotation, and calculating an angle positioning error of the measured shaft.

Description

technical field [0001] The invention relates to the detection of the angular positioning error of a multi-axis turntable, in particular to a method for detecting the angular positioning error of a multi-axis turntable based on a single-axis laser gyro goniometer. Background technique [0002] Laser gyro is an inertial navigation and guidance instrument widely used in modern aviation, navigation, aerospace, weapon guidance and rail transportation. With the gradual maturity of laser gyroscope cavity mirror coating process, different-surface cavity processing, and adjustment technology, as well as breakthroughs in major technical issues such as locking, laser gyroscope goniometers rely on high precision, high sensitivity, high resolution, and large dynamic range. And many other excellent properties, has become an important angle measuring instrument. [0003] The laser gyro goniometer is an instrument that uses the optical path difference of the laser beam to sense the rotatio...

AI Technical Summary

Problems solved by technology

If the scale coefficient of the laser gyro goniometer is recalibrated, the internal parameters of the laser gyro goniometer will change, resulting in the problem that it cannot be traced to the national angle measurement reference device or the national angle measurement standard device

If the standard zero position is provided by a zero-pointing instrument, it is equivalent to using a photoelectric autocollimator, which not only increases the cost and difficulty of using the laser gyro goniometer, but also limits the application range of the laser gyro goniometer

[0008] 2) The problem of angle measurement error introduced by projection angle

When the projection angle is large (when the projection angle is greater than 10'), the projection of the earth's rotation angular velocity vector on the sensitive axis of the laser gyro goniometer will produce a sinusoidal variation, thereby introducing an angle measurement error value, Directly affect the measurement accuracy of the laser gyro goniometer

[0009] 3) The problem of angle measurement error introduced by non-contact measurement

This non-contact measurement will also introduce the same problem as the angle measurement error introduced by the projection angle, resulting in inaccurate angular position errors in the measurement of the outer frame axis system and the middle frame axis system, and even the measured angular position error is much larger than the angular position error of the turntable. The nominal value of

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