A lateral error compensation method for a dual-axis tilt monitoring system

Abstract

The present invention discloses a lateral error compensation method for a dual-axis tilt monitoring system, comprising the following steps: S1: building a dual-axis tilt monitoring system on site; S2: measuring the offset angle of the dual-axis tilt monitoring system; S3: reading the tilt value of the dual-axis tilt monitoring system; S4: calculating the lateral error according to a formula; S5: subtracting the lateral error calculated by S4 from the tilt value read by S3 to obtain the actual tilt value. The present invention establishes a mathematical model, derives a set of angle compensation formulas, and then combines the tilt data measured by the system and the offset angle data of the system, calculates the lateral error angle according to the corresponding formula, and compensates the tilt data, thereby compensating for the lateral error caused by the inability to achieve complete verticality between the dual axes, and greatly improves the measurement accuracy of the dual-axis tilt monitoring system.

Description

Technical Field

[0001] The invention relates to the field of error calculation and compensation, and in particular to a lateral error compensation method for a dual-axis tilt monitoring system. Background Art

[0002] With the rapid development of industrial automation, inclination monitoring has become one of the important guarantee factors for production efficiency, production quality and production safety in modern industrial production. Inclination monitoring is widely used in bridge erection, railway laying, civil engineering, oil drilling, aviation and navigation, industrial automation, intelligent platform, mechanical processing and other fields. Therefore, the inclination monitoring system has become an indispensable production guarantee tool in the inclination monitoring process in the above fields.

[0003] The dual-axis tilt monitoring system usually uses two single-axis tilt sensors installed vertically to form a dual-axis tilt monitoring system; or directly uses a dual-axis tilt sensor, and the dual-axis tilt sensor is to vertically assemble two single-axis tilt measurement devices (MEMS chips or other measurement units) inside the sensor. In principle, the two single axes need to be installed vertically.

[0004] However, whether it is a dual-axis tilt monitoring system built on industrial sites or a dual-axis tilt sensor, it is difficult for the two single axes to be 100% perpendicular and completely parallel to the measurement direction. Once the two single axes cannot be absolutely perpendicular, when one axis tilts at an angle, even if the other axis does not tilt at an angle, the data read out by the dual-axis monitoring system will have a certain tilt angle. This is defined as lateral error.

[0005] The size of the lateral error depends on the verticality between the two single axes. When they are absolutely vertical, the lateral error is zero. The worse the verticality, the larger the lateral error, and the lower the measurement accuracy of the system.

[0006] When dual-axis inclination sensors leave the factory, some manufacturers will use an automatic calibration system to calibrate the sensors in absolute values, thereby eliminating certain horizontal axis errors and improving the accuracy of the sensors. However, this solution requires the calibration system itself to be as absolutely vertical as possible, otherwise, it will introduce greater errors. In addition, this solution is limited to the dual-axis sensor itself and cannot be used for dual-axis inclination monitoring systems built on industrial sites. Summary of the invention

[0007] The present invention aims to overcome the problem that it is difficult to achieve 100% verticality between two single axes of the dual-axis tilt monitoring system in the prior art, thereby causing lateral errors, and provides a lateral error compensation method for the dual-axis tilt monitoring system.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A lateral error compensation method for a dual-axis tilt monitoring system includes the following steps: S1: building a dual-axis tilt monitoring system on site; S2: measuring the offset angle of the dual-axis tilt monitoring system; S3: reading the tilt value of the dual-axis tilt monitoring system; S4: calculating the lateral error according to a formula; S5: subtracting the lateral error calculated by S4 from the tilt value read by S3 to obtain the actual tilt value. The present invention establishes a mathematical model, derives a set of angle compensation formulas, and then combines the tilt data measured by the system and the offset angle data of the system, calculates the lateral error angle according to the corresponding formula, and compensates the tilt data, thereby compensating for the lateral error caused by the inability to achieve complete verticality between the dual axes, and greatly improves the measurement accuracy of the dual-axis tilt monitoring system.

[0010] As a preferred solution of the present invention, the specific step of S2 is: using an angle ruler or an angle measuring instrument to respectively measure the X and Y of the dual-axis tilt monitoring system. 0 The offset angle a between the axis and the theoretical X-axis to be monitored X0 , dual-axis tilt monitoring system Y 0 The offset angle between the axis and the theoretical Y axis to be monitored

[0011] As a preferred solution of the present invention, the specific step of S3 is: reading X and Y on the dual-axis tilt monitoring system respectively. 0 Axis inclination value Y 0 Axis inclination value

[0012] As a preferred solution of the present invention, the formula for calculating the lateral error in S4 is:

[0013]

[0014] Wherein, c is the lateral error value, a is the offset angle, and b is the inclination value. The present invention does not require complicated surveying and calibration, and directly uses the calculation formula derived by calculation, brings in relevant data for calculation, and can obtain the lateral error value and eliminate the lateral error.

[0015] As a preferred solution of the present invention, the S4 is specifically as follows: Calculate the lateral error value of the X axis: 0 The offset angle between the axis and the theoretical X-axis to be monitored Y 0 Axis inclination value Substitute into the calculation formula and solve to calculate the lateral error value c of the X-axis X ; Calculate the lateral error value of the Y axis: 0 The offset angle between the axis and the theoretical Y axis to be monitored X 0Axis inclination value Substitute into the calculation formula and solve to calculate the lateral error value c of the Y axis Y .

[0016] As a preferred solution of the present invention, the S5 is specifically as follows: Calculate the actual inclination value of the X axis: 0 Axis inclination value Subtract the lateral error value c of the X axis X ; Calculate the actual Y-axis inclination value: Y 0 Axis inclination value Subtract the lateral error value c of the Y axis Y .

[0017] Therefore, the present invention has the following beneficial effects: the present invention establishes a mathematical model to derive a set of angle compensation formulas, and then combines the inclination data measured by the system and the offset angle data of the system to calculate the lateral error angle according to the corresponding formula, and compensates the inclination data, thereby compensating for the lateral error caused by the inability to achieve complete verticality between the two axes, thereby greatly improving the measurement accuracy of the dual-axis inclination monitoring system; the present invention does not require complicated surveying and calibration, and directly uses the inferred calculation formula and brings in relevant data for calculation to obtain the lateral error value and eliminate the lateral error. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a flow chart of the present invention;

[0019] Figure 2 It is the lateral error mathematical model of the present invention. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0021] like Figure 1 As shown in the figure, a lateral error compensation method of a dual-axis tilt monitoring system of the present invention is established. Figure 2 The mathematical model shown is used to derive a set of angle compensation formulas. Then, the lateral error angle is calculated based on the corresponding formula in combination with the inclination data measured by the system and the offset angle data of the system. The inclination data is compensated to compensate for the lateral error caused by the inability to achieve complete verticality between the two axes, thereby greatly improving the measurement accuracy of the dual-axis inclination monitoring system.

[0022] like Figure 2 As shown in the figure, the straight line (OA) is defined as being located on the X-axis, the straight line (OB) is located on the Y-axis, and the X-axis and the Y-axis are perpendicular to each other. The straight line (OC) and the straight line (OB) are the two axes actually installed in the dual-axis tilt monitoring system, and the angle between the straight line (OC) and the straight line (OA) is angle (a); assuming that the Y-axis rotates by angle (b), that is, the straight line (OB0 ) and the straight line (OB). Then, the straight line (OC) moves to the straight line (OC 0 ) position, straight line (OC) and straight line (OC 0 ) is the angle (c), which is the lateral error produced.

[0023] Let, OA = OB = 1; then,

[0024] According to the triangle sine theorem, the following equation can be established:

[0025]

[0026] Because the isosceles triangle (ACC 0 ) and isosceles triangle (ABB 0 ),get

[0027]

[0028] From equation 1, we can deduce

[0029]

[0030] From equations 2 and 3, we can deduce

[0031]

[0032] Finally, substituting into equation 4, we get

[0033]

[0034] Among them, c is the lateral error value, a is the offset angle, and b is the inclination value.

[0035] After the dual-axis tilt monitoring system is built at the construction site, the X-axis tilt monitoring system is measured by relevant measuring tools, such as angle rulers or angle measuring instruments. 0 The offset angle between the axis and the theoretical X-axis to be monitored and Y 0 The offset angle a between the axis and the theoretical Y axis to be monitored Y0 Take measurements and then read the X from the dual-axis tilt monitoring system 0 Axis inclination value and Y 0 Axis inclination value In this embodiment, X 0 The offset angle between the axis and the theoretical X-axis to be monitored is 1°, Y 0 The offset angle between the axis and the theoretical Y axis to be monitored is -2°, X0 The offset angle between the axis and the theoretical X-axis to be monitored It can be a positive offset angle value or a negative offset angle value. The positive and negative values ​​are determined by the coordinate system of the dual-axis tilt monitoring system. The X value is read on the dual-axis tilt monitoring system. 0 Axis inclination value The Y angle reading on the dual-axis tilt monitoring system is 15°. 0 Axis inclination value is 10°, and X 0 The offset angle between the axis and the theoretical X-axis to be monitored The Y-axis tilt monitoring system reads 0 Axis inclination value Substitute into (Equation 8) and calculate the lateral error value c of the X axis X ≈0.1743°, and finally use X 0 Axis inclination value Subtract the lateral error value c of the X axis X , that is, 15°-0.1743°=14.8257° is the actual inclination value of the X axis; similarly, the Y 0 The offset angle between the axis and the theoretical Y axis to be monitored The X-axis tilt monitoring system reads 0 Axis inclination value Substitute it into (Equation 8) and calculate the lateral error value of the Y axis. Finally, use Y 0 Axis inclination value Subtracting the lateral error value of the Y axis can obtain the actual inclination value of the Y axis.

[0036] Finally, the horizontal axis error of the inclination value obtained by the dual-axis inclination monitoring system approaches zero.

[0037] The method of the present invention is not limited to the dual-axis tilt monitoring system, but is also very effective in the development and production process of dual-axis tilt sensors. For example, a digital output dual-axis tilt sensor can use (Equation 8) to associate the respective readings before the final output angle value, eliminate the lateral error, and then output the final dual-axis value.

[0038] The present invention establishes a mathematical model, derives a set of angle compensation formulas, and then combines the inclination data measured by the system and the offset angle data of the system to calculate the lateral error angle according to the corresponding formula, and compensates the inclination data, thereby compensating for the lateral error caused by the inability to achieve complete verticality between the two axes, thereby greatly improving the measurement accuracy of the dual-axis inclination monitoring system.

[0039] The present invention does not require complicated surveying and calibration, and can directly use the inferred calculation formula and bring in relevant data for calculation to obtain the lateral error value and eliminate the horizontal axis error.

[0040] This method can also be used in dual-axis inclination sensors to eliminate the transverse axis error of the sensor before leaving the factory, without the need for a complex dual-axis calibration system, thus reducing the development and production costs of the sensor.

[0041] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that are not conceived through creative work should be included in the protection scope of the present invention.

Claims

1. A lateral error compensation method for a dual-axis tilt monitoring system. Its characteristics are: The following steps are involved: S1: On-site construction of XY dual-axis tilt monitoring system; S2: Measure the offset angle between the actual installation axis and the theoretical monitoring axis of the dual-axis inclination monitoring system and S3: Read the inclination value of the actual installation axis of the dual-axis inclination monitoring system and S4: The sine value of half the X-axis lateral error is equal to the offset angle The sine value and inclination value of The sine value of half the Y-axis lateral error is equal to the offset angle. The sine value and inclination value of The product of the sines of S5: The actual inclination value is obtained by subtracting the lateral error calculated by S4 from the inclination value read by S3.

2. The lateral error compensation method of a dual-axis tilt monitoring system according to claim 1, Its characteristics are: The specific steps of S2 are: using an angle ruler or an angle measuring instrument to measure the X and Y of the dual-axis tilt monitoring system respectively. 0 The offset angle between the axis and the theoretical X-axis to be monitored Dual-axis tilt monitoring system Y 0 The offset angle between the axis and the theoretical Y axis to be monitored 3. A lateral error compensation method for a dual-axis tilt monitoring system according to claim 1 or 2, Its characteristics are: The specific steps of S3 are: reading X and 0 Axis inclination value Y 0 Axis inclination value 4. The lateral error compensation method of a dual-axis tilt monitoring system according to claim 3, Its characteristics are: The S4 is specifically as follows: Calculate the lateral error value of the X axis: 0 The offset angle between the axis and the theoretical X-axis to be monitored Y 0 Axis inclination value Substitute into the calculation formula and solve to calculate the lateral error value c of the X-axis X ; Calculate the lateral error value of the Y axis: 0 The offset angle between the axis and the theoretical Y axis to be monitored X 0 Axis inclination value Substitute into the calculation formula and solve to calculate the lateral error value c of the Y axis Y .

5. The lateral error compensation method of a dual-axis tilt monitoring system according to claim 4, Its characteristics are: The S5 is specifically as follows: Calculate the actual inclination value of the X axis: 0 Axis inclination value Subtract the lateral error value c of the X axis X ; Calculate the actual Y-axis inclination value: Y 0 Axis inclination value Subtract the lateral error value c of the Y axis Y .

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