A device and method for calibrating installation error of aiming system

Abstract

The present invention provides a device and method for calibrating the installation error of a sighting system. The device comprises: a theodolite I, an inclined right-angle prism installed on the theodolite I, a theodolite II, a reference prism with a given north reference, and a sighting system composed of a laser strapdown inertial group and an inclined autocollimator; the theodolite II is set at a pitch angle θ Y The tilted right-angle prism device is aligned with the tilted self-collimating light tube, and the pitch angle θ of the tilted self-collimating light tube relative to theodolite I GG With the pitch angle θ Y The aiming system installation error calibration method of the present invention can make the error introduced by the non-horizontal degree of the ridge line of the inclined right-angle prism negligible, and can transmit the high-precision north reference to the inclined self-collimation light tube, which not only improves the accuracy of the installation error calibration, but also reduces the operation requirements for operators.

Description

Technical Field

[0001] The invention belongs to the technical field of error calibration, and in particular relates to a device and method for calibrating the installation error of a sighting system. Background Art

[0002] The aiming system is mainly composed of a laser strapdown inertial group and an inclined autocollimation light tube. The laser strapdown inertial group uses its own inertial device to self-seek north to obtain high-precision azimuth and horizontal attitude angles. The aiming azimuth can be calculated through the pre-calibrated installation error and the collimation deviation angle measured by the inclined autocollimation light tube, and the high-precision azimuth reference is passed to the target prism. The calibration accuracy of the installation error between the laser strapdown inertial group and the inclined autocollimation light tube directly determines the azimuth measurement accuracy of the aiming system.

[0003] The existing calibration method uses a horizontal right-angle prism to be set up on theodolite I, and the theodolite II that has been aligned with the north reference is aligned with the horizontal right-angle prism on theodolite I; then the horizontal right-angle prism is aligned with the tilted autocollimation light tube to obtain the azimuth of the optical axis of the tilted autocollimation light tube; at the same time, the laser strapdown inertial group obtains the azimuth by self-seeking north, and then calibrates the azimuth installation error of the tilted autocollimation light tube and the laser strapdown inertial group. In this process, the non-levelness of the edge line of the horizontal right-angle prism will introduce a large error. When the tilted autocollimation light tube is tilted 35° and the horizontal right-angle prism has a non-levelness of 30", an error of 21" will be introduced. For high-precision aiming systems, the accuracy requirement is at the second level. Therefore, the existing calibration method is no longer suitable for high-precision aiming systems. Summary of the invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a device and method for calibrating installation errors of a sighting system.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions.

[0006] In a first aspect, the present invention provides a sighting system installation error calibration device, comprising: a theodolite I, an inclined right-angle prism installed on the theodolite I, a theodolite II, a reference prism with a given north reference, and a sighting system composed of a laser strapdown inertial group and an inclined autocollimation light tube; the theodolite II is at a pitch angle θ Y The tilted right-angle prism device is aligned with the tilted self-collimating light tube, and the pitch angle θ of the tilted self-collimating light tube relative to theodolite I GG With the pitch angle θ Y Approximately equal; based on the azimuth, pitch and roll angles of the tilted autocollimator light tube measured by theodolite I, and the azimuth, pitch and roll angles of the laser strapdown inertial group obtained by sending a north-seeking command to the laser strapdown inertial group to make it self-seek north, the installation error of the aiming system is calculated.

[0007] Furthermore, the pitch angle θ GG The measurement method includes: setting up the aiming system and theodolite I, and measuring the pitch angle θ of the optical axis of the tilted autocollimator after theodolite I is leveled GG .

[0008] Furthermore, the pitch angle θ GG With the pitch angle θ Y The error is less than 5'.

[0009] Further, the method for calculating the installation error of the aiming system includes:

[0010] According to the azimuth angle α of the tilted autocollimator measured by theodolite I GG , pitch angle θ GG , roll angle β GG = 0, and the attitude matrix C1 of the tilted self-collimating light pipe is obtained;

[0011] According to the azimuth angle α of the laser strapdown inertial system obtained by self-seeking GZ , pitch angle θ GZ , roll angle β GZ , get the attitude matrix C2 of the tilted self-collimating light pipe;

[0012] Calculate the installation error matrix C of the aiming system = ((C1) T C2) T ;

[0013] Calculate the installation error of the aiming system based on matrix C.

[0014] Furthermore, C1 and C2 are respectively:

[0015]

[0016]

[0017] Furthermore, the method for calculating the installation error of the aiming system according to the installation error matrix C includes:

[0018] Use α e ,θ e , β e They represent the azimuth installation error, the pitch angle installation error and the roll angle installation error respectively, and the installation error matrix C can be expressed as:

[0019]

[0020] make Then the installation error of the aiming system is:

[0021]

[0022] θe =arcsin T 32

[0023]

[0024] In a second aspect, the present invention provides a method for calibrating the installation error of a sighting system using the device, comprising the following steps:

[0025] Adjust the elevation angle of theodolite II to align with the reference prism, adjust the azimuth angle of theodolite II to align it with the reference prism, and then set the azimuth angle of theodolite II to the north azimuth angle of the reference prism;

[0026] Turn theodolite II to the inclined right-angle prism on theodolite I, and adjust its tilt angle to the same pitch angle θ as the tilted autocollimator relative to theodolite I. GG Approximately equal; then adjust the azimuths of theodolite I and theodolite II so that theodolite II is aligned with the inclined right-angle prism on theodolite I, and set the azimuth of theodolite I to the north azimuth angle of theodolite II;

[0027] Turn the theodolite I to the tilted autocollimator, adjust the azimuth of the theodolite I according to the angle measured by the tilted autocollimator, and align the theodolite I with the tilted autocollimator; at this time, the azimuth angle data on the theodolite I is the azimuth angle α of the tilted autocollimator. GG ;

[0028] By sending a north-seeking command to the laser strapdown inertial system to make it self-seek north, the azimuth α of the laser strapdown inertial system is obtained. GZ , pitch angle θ GZ , roll angle β GZ ;

[0029] According to the azimuth angle α of the tilted autocollimator measured by theodolite I GG , pitch angle θ GG , roll angle β GG = 0, and the azimuth angle α GZ , pitch angle θ GZ , roll angle β GZ , calculate the installation error of the aiming system.

[0030] Further, the method for calculating the installation error of the aiming system includes:

[0031] According to the azimuth angle α of the tilted autocollimator measured by theodolite I GG , pitch angle θ GG , roll angle β GG = 0, and the attitude matrix C1 of the tilted self-collimating light pipe is obtained;

[0032] According to the azimuth angle α of the laser strapdown inertial system obtained by self-seekingGZ , pitch angle θ GZ , roll angle β GZ , get the attitude matrix C2 of the tilted self-collimating light pipe;

[0033] Calculate the installation error matrix C of the aiming system = ((C1) T C2) T ;

[0034] Calculate the installation error of the aiming system based on matrix C.

[0035] Furthermore, C1 and C2 are respectively:

[0036]

[0037]

[0038] Furthermore, the method for calculating the installation error of the aiming system according to the installation error matrix C includes:

[0039] Use α e ,θ e , β e They represent the azimuth installation error, the pitch angle installation error and the roll angle installation error respectively, and the installation error matrix C can be expressed as:

[0040]

[0041] make Then the installation error of the aiming system is:

[0042]

[0043] θ e =arcsin T 32

[0044]

[0045] Compared with the prior art, the present invention has the following beneficial effects.

[0046] The aiming system installation error calibration device proposed by the present invention comprises a reference prism for determining the north reference, a theodolite I, an inclined right-angle prism installed on the theodolite I, a theodolite II, a reference prism for determining the north reference, and an aiming system composed of a laser strapdown inertial group and an inclined autocollimation light tube. The theodolite II is set at a pitch angle θ Y The tilted right-angle prism device is aligned with the tilted self-collimating light tube, and the pitch angle θ of the tilted self-collimating light tube relative to theodolite I GG With the pitch angle θ YThe aiming system installation error calibration method of the present invention can make the error introduced by the non-horizontal degree of the ridge line of the inclined right-angle prism negligible, and can transmit the high-precision north reference to the inclined self-collimation light tube, which not only improves the accuracy of the installation error calibration, but also reduces the operation requirements for operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The block diagram of the aiming system installation error calibration device according to the embodiment of the present invention is shown in the figure. In the figure, 1 is theodolite I, 2 is a tilted right-angle prism, 3 is theodolite II, 4 is a reference prism, 5 is a laser strapdown inertial unit, and 6 is a tilted autocollimation light tube.

[0048] Figure 2 The present invention is a flowchart of a method for calibrating the installation error of a sighting system using the device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0050] Figure 1 The block diagram of the aiming system installation error calibration device according to the embodiment of the present invention comprises: a theodolite I, an inclined right-angle prism installed on the theodolite I, a theodolite II, a reference prism with a given north reference, and an aiming system composed of a laser strapdown inertial group and an inclined autocollimation light tube; the theodolite II is at a pitch angle θ Y The tilted right-angle prism device is aligned with the tilted self-collimating light tube, and the pitch angle θ of the tilted self-collimating light tube relative to theodolite I GG With the pitch angle θ Y Approximately equal; based on the azimuth, pitch and roll angles of the tilted autocollimator light tube measured by theodolite I, and the azimuth, pitch and roll angles of the laser strapdown inertial group obtained by sending a north-seeking command to the laser strapdown inertial group to make it self-seek north, the installation error of the aiming system is calculated.

[0051] In this embodiment, the device mainly consists of a theodolite I, an inclined right-angle prism mounted on the theodolite I, a theodolite II, a reference prism for a given north reference, and a sighting system consisting of a laser strapdown inertial unit and an inclined autocollimator. The reference prism is used to provide a north reference. Theodolites I and II can measure not only azimuth, but also elevation. When performing error calibration, it is necessary to first measure the elevation angle θ of the inclined autocollimator relative to theodolite II.GG ; Also adjust the elevation angle of theodolite II to level the reference prism, and adjust the azimuth angle of theodolite II to align it with the reference prism, and then set the north azimuth angle data of the reference prism on theodolite II. Turn theodolite II to the inclined right-angle prism device on theodolite I, and adjust its inclination angle to the elevation angle θ of the inclined autocollimator relative to theodolite I. GG Approximately equal, then adjust the azimuth of theodolite I and theodolite II to align theodolite II with the tilted right-angle prism device on theodolite I, and then set theodolite I to the north azimuth angle data of theodolite II. Turn theodolite I to the tilted autocollimation light tube, adjust the azimuth of theodolite I according to the angle measurement of the tilted autocollimation light tube, so that theodolite I and the tilted autocollimation light tube are aligned, and the azimuth reading on theodolite I is the azimuth of the tilted autocollimation light tube. The roll angle of theodolite I is generally set to 0, so that the azimuth, pitch angle, and roll angle of the tilted autocollimation light tube measured by theodolite I are obtained. Finally, send a north-seeking command to the laser strapdown inertial group to make it self-seek north, and obtain the azimuth, pitch angle, and roll angle of the laser strapdown inertial group. According to the two sets of angle data obtained, the installation error of the aiming system can be solved.

[0052] The error calibration method of this embodiment can make the error introduced by the non-horizontal degree of the ridge line of the inclined right-angle prism (the angle between the ridge line and the horizontal plane) negligible, and can transmit the high-precision north reference to the inclined self-collimation light tube, which not only improves the accuracy of the installation error calibration, but also reduces the operation requirements for the operator. The technical principle of eliminating errors is introduced below.

[0053] Assume that theodolite II is at an elevation angle θ Y Aligned with the inclined right angle prism device, the non-horizontal degree of the edge line of the inclined right angle prism is θ NL , then the azimuth error Δα1 is:

[0054] Δα1=θ NL tanθ Y

[0055] Assume that the true azimuth of the inclined right-angle prism device on theodolite I is Δα TRUE , then the number α on the theodolite I J1 for:

[0056] α J1 =α TRUE +Δα1

[0057] Turn the theodolite I to a certain angle so that the inclined right-angle prism is also aligned with the inclined autocollimator. Assume that the measured pitch angle of the inclined autocollimator is θ GG , at this time the azimuth error Δα2 is:

[0058] Δα2=θNL tanθ GG

[0059] The azimuth angle α of the tilted self-collimator is GG for:

[0060] α GG =α TRUE +Δα2

[0061] =α J1 +Δα2-Δα1

[0062] =α J1 +θ NL ·(tanθ GG -tanθ Y )

[0063] θ GG With θ Y Assuming the phase difference Δθ is very small, the above formula can be transformed into:

[0064] α GG =α J1 +θ NL ·Δθ

[0065] The non-horizontal degree of the edge line is generally not greater than 2′, θ Y and θ GG The difference Δθ is no more than 5′. According to this calibration method, the azimuth error θ introduced by the non-horizontal ridgeline is NL ·Δθ=2′×5 / 60×(π / 180)≈0.0029′≈0.17″, which can meet the calibration requirements of high-precision aiming systems.

[0066] As an optional embodiment, the pitch angle θ GG The measurement method includes: setting up the aiming system and theodolite I, and measuring the pitch angle θ of the optical axis of the tilted autocollimator after theodolite I is leveled GG .

[0067] This embodiment provides a method for measuring the pitch angle θ GG A technical solution. GG is the pitch angle of the optical axis of the tilted autocollimator relative to theodolite I, which needs to be set up Figure 1 The experimental setup shown above was previously used to measure θ GG As mentioned above, the theodolite has the function of measuring azimuth and elevation angles. Therefore, it is only necessary to set up the aiming system and theodolite I, level the theodolite I, and then measure the elevation angle θ using the theodolite I. GG After the measurement, keep the aiming system still and set up Figure 1 The experimental setup is shown.

[0068] As an optional embodiment, the pitch angle θGG With the pitch angle θ Y The error is less than 5'.

[0069] As an optional embodiment, the method for calculating the installation error of the aiming system includes:

[0070] According to the azimuth angle α of the tilted autocollimator measured by theodolite I GG , pitch angle θ GG , roll angle β GG = 0, and the attitude matrix C1 of the tilted self-collimating light pipe is obtained;

[0071] According to the azimuth angle α of the laser strapdown inertial system obtained by self-seeking GZ , pitch angle θ GZ , roll angle β GZ , get the attitude matrix C2 of the tilted self-collimating light pipe;

[0072] Calculate the installation error matrix C of the aiming system = ((C1) T C2) T ;

[0073] Calculate the installation error of the aiming system based on matrix C.

[0074] This embodiment provides a technical solution for calculating the installation error of the aiming system. This embodiment calculates the installation error by calculating the installation error matrix. The calculation method of the installation error matrix includes: first, according to the azimuth, pitch angle, and roll angle of the tilted autocollimator measured by the theodolite I, the attitude matrix C1 of the tilted autocollimator is listed; then, according to the azimuth, pitch angle, and roll angle of the laser strapdown inertial group obtained by self-seeking, the attitude matrix C2 of the tilted autocollimator is listed; then, according to C=((C1) T C2) T The installation error matrix C is obtained. The attitude matrix is ​​equal to the transpose of the product of the rotation matrices corresponding to the roll angle, pitch angle, and azimuth angle. The specific expression will be given in the following embodiments.

[0075] As an optional embodiment, C1 and C2 are respectively:

[0076]

[0077]

[0078] This embodiment provides specific expressions of two attitude matrices C1 and C2. It is common knowledge to list attitude matrices according to azimuth, pitch angle, and roll angle, and no specific description is given here.

[0079] As an optional embodiment, a method for calculating the installation error of the aiming system according to the installation error matrix C includes:

[0080] Use α e ,θ e , β e They represent the azimuth installation error, the pitch angle installation error and the roll angle installation error respectively, and the installation error matrix C can be expressed as:

[0081]

[0082] make Then the installation error of the aiming system is:

[0083]

[0084] θ e =arcsin T 32

[0085]

[0086] This embodiment provides a technical solution for calculating the installation error of the aiming system according to the installation error matrix C. First, the installation error matrix C represented by the azimuth installation error, the pitch angle installation error and the roll angle installation error is listed, and according to C=((C1) T C2) T Calculated C; then make the two equal to get the three installation error angles. For example: according to T 32 = sinθ e , we get θ e =arcsin T 32 For example, according to T 12 = cosθ e sinα e , T 22 = cosθ e cosα e , get T 12 / T 22 =tanα e , so, α e =arctan(T 12 / T 22 ).

[0087] Figure 2 This is a flow chart of a method for calibrating the installation error of a sighting system using the device according to an embodiment of the present invention. The method comprises the following steps:

[0088] Adjust the elevation angle of theodolite II to align with the reference prism, adjust the azimuth angle of theodolite II to align it with the reference prism, and then set the azimuth angle of theodolite II to the north azimuth angle of the reference prism;

[0089] Turn theodolite II to the inclined right-angle prism on theodolite I, and adjust its tilt angle to the same pitch angle θ as the tilted autocollimator relative to theodolite I. GG Approximately equal; then adjust the azimuths of theodolite I and theodolite II so that theodolite II is aligned with the inclined right-angle prism on theodolite I, and set the azimuth of theodolite I to the north azimuth angle of theodolite II;

[0090] Turn the theodolite I to the tilted autocollimator, adjust the azimuth of the theodolite I according to the angle measured by the tilted autocollimator, and align the theodolite I with the tilted autocollimator; at this time, the azimuth angle data on the theodolite I is the azimuth angle α of the tilted autocollimator. GG ;

[0091] By sending a north-seeking command to the laser strapdown inertial system to make it self-seek north, the azimuth α of the laser strapdown inertial system is obtained. GZ , pitch angle θ GZ , roll angle β GZ ;

[0092] According to the azimuth angle α of the tilted autocollimator measured by theodolite I GG , pitch angle θ GG , roll angle β GG = 0, and the azimuth angle α GZ , pitch angle θ GZ , roll angle β GZ , calculate the installation error of the aiming system.

[0093] The method of this embodiment, Figure 1 Compared with the technical solution of the device embodiment shown in the figure, its implementation principle and technical effect are similar, which will not be described in detail here. The same is true for the following embodiments, which will not be described in detail.

[0094] As an optional embodiment, the method for calculating the installation error of the aiming system includes:

[0095] According to the azimuth angle α of the tilted autocollimator measured by theodolite I GG , pitch angle θ GG , roll angle β GG = 0, and the attitude matrix C1 of the tilted self-collimating light pipe is obtained;

[0096] According to the azimuth angle α of the laser strapdown inertial system obtained by self-seeking GZ , pitch angle θ GZ , roll angle β GZ , get the attitude matrix C2 of the tilted self-collimating light pipe;

[0097] Calculate the installation error matrix C of the aiming system = ((C1) T C2) T ;

[0098] Calculate the installation error of the aiming system based on matrix C.

[0099] As an optional embodiment, C1 and C2 are respectively:

[0100]

[0101]

[0102] As an optional embodiment, a method for calculating the installation error of the aiming system according to the installation error matrix C includes:

[0103] Use α e ,θ e ,θ e They represent the azimuth installation error, the pitch angle installation error and the roll angle installation error respectively, and the installation error matrix C can be expressed as:

[0104]

[0105] make Then the installation error of the aiming system is:

[0106]

[0107] θ e =arcsin T 32

[0108]

[0109] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A device for calibrating installation errors of a sighting system, characterized in that: include: Theodolite I, the inclined right-angle prism installed on theodolite I, theodolite II, the reference prism with a given north reference, the aiming system consisting of a laser strapdown inertial group and an inclined autocollimator; theodolite II is at an elevation angle θ Y The tilted right-angle prism device is aligned with the tilted self-collimating light tube, and the pitch angle θ of the tilted self-collimating light tube relative to theodolite I GG With the pitch angle θ Y Approximately equal; based on the azimuth, pitch and roll angles of the tilted autocollimator light tube measured by theodolite I, and the azimuth, pitch and roll angles of the laser strapdown inertial group obtained by sending a north-seeking command to the laser strapdown inertial group to make it self-seek north, the installation error of the aiming system is calculated.

2. The aiming system installation error calibration device according to claim 1, characterized in that: Pitch angle θ GG The measurement method includes: setting up the aiming system and theodolite I, and measuring the pitch angle θ of the optical axis of the tilted autocollimator after theodolite I is leveled GG .

3. The aiming system installation error calibration device according to claim 1, characterized in that: Pitch angle θ GG With the pitch angle θ Y The error is less than 5'.

4. The aiming system installation error calibration device according to claim 1, characterized in that: Methods for calculating the installation error of the aiming system include: According to the azimuth angle α of the tilted autocollimator measured by theodolite I GG , pitch angle θ GG , roll angle β GG = 0, and the attitude matrix C1 of the tilted self-collimating light pipe is obtained; According to the azimuth angle α of the laser strapdown inertial system obtained by self-seeking GZ , pitch angle θ GZ , roll angle β GZ , get the attitude matrix C2 of the tilted self-collimating light pipe; Calculate the installation error matrix C of the aiming system = ((C1) T C2) T ; Calculate the installation error of the aiming system based on matrix C.

5. The aiming system installation error calibration device according to claim 4, characterized in that: C1 and C2 are:

6. The aiming system installation error calibration device according to claim 5, characterized in that: The method for calculating the installation error of the aiming system according to the installation error matrix C includes: Use α e ,θ e , β e They represent the azimuth installation error, the pitch angle installation error and the roll angle installation error respectively, and the installation error matrix C can be expressed as: make Then the installation error of the aiming system is: θ e =arcsin T 32 7. A method for calibrating the installation error of a sighting system using the device of claim 1, comprising the following steps: Adjust the elevation angle of theodolite II to align with the reference prism, adjust the azimuth angle of theodolite II to align it with the reference prism, and then set the azimuth angle of theodolite II to the north azimuth angle of the reference prism; Turn theodolite II to the inclined right-angle prism on theodolite I, and adjust its tilt angle to the same pitch angle θ as the tilted autocollimator relative to theodolite I. GG Approximately equal; then adjust the azimuths of theodolite I and theodolite II so that theodolite II is aligned with the inclined right-angle prism on theodolite I, and set the azimuth of theodolite I to the north azimuth angle of theodolite II; Turn the theodolite I to the tilted autocollimator, adjust the azimuth of the theodolite I according to the angle measured by the tilted autocollimator, and align the theodolite I with the tilted autocollimator; at this time, the azimuth angle data on the theodolite I is the azimuth angle α of the tilted autocollimator. GG ; By sending a north-seeking command to the laser strapdown inertial system to make it self-seek north, the azimuth α of the laser strapdown inertial system is obtained. GZ , pitch angle θ GZ , roll angle β GZ ; According to the azimuth angle α of the tilted autocollimator measured by theodolite I GG , pitch angle θ GG , roll angle β GG = 0, and the azimuth angle α GZ , pitch angle θ GZ , roll angle β GZ , calculate the installation error of the aiming system.

8. The method according to claim 7, characterized in that Methods for calculating the installation error of the aiming system include: According to the azimuth angle α of the tilted autocollimator measured by theodolite I GG , pitch angle θ GG , roll angle β GG = 0, and the attitude matrix C1 of the tilted self-collimating light pipe is obtained; According to the azimuth angle α of the laser strapdown inertial system obtained by self-seeking GZ , pitch angle θ GZ , roll angle β GZ , get the attitude matrix C2 of the tilted self-collimating light pipe; Calculate the installation error matrix C of the aiming system = ((C1) T C2) T ; Calculate the installation error of the aiming system based on matrix C.

9. The method according to claim 8, characterized in that C1 and C2 are:

10. The method according to claim 9, characterized in that The method for calculating the installation error of the aiming system according to the installation error matrix C includes: Use α e ,θ e , β e They represent the azimuth installation error, the pitch angle installation error and the roll angle installation error respectively, and the installation error matrix C can be expressed as: make Then the installation error of the aiming system is: θ e =arcsin T 32

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