Method and device for measuring levelness and parallelism

Abstract

The present invention provides a method and apparatus for measuring horizontality and parallelism. The method comprises: using a spirit level to level a calibration plate; placing a gyroscope on the calibration plate to prepare and calibrate the gyroscope; obtaining the calibration plate attitude after the gyroscope is prepared and calibrated; obtaining the coordinates of the calibration plate's space vector in a navigation coordinate system based on the calibration plate attitude; obtaining the coordinates of a measured space vector in the navigation coordinate system based on the gyroscope; and obtaining the relative parallelism and horizontality of the measured space vector based on the coordinates of the measured space vector in the navigation coordinate system and the coordinates of the calibration plate's space vector in the navigation coordinate system. The present invention enables efficient and high-precision measurement of the relative parallelism and horizontality of a large number of space vectors.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial measurement, and in particular to a method and device for measuring horizontality and parallelism. Background Art

[0002] Production lines in industries like metal smelting, papermaking, and printing often feature numerous rollers. For example, a steel mill manufacturing automotive steel sheeting can have over 50 large rollers spread across a 10-story building. If the rollers are not parallel, the steel sheets can break, shutting down the entire production line and costing tens of millions of yuan per day. Therefore, rigorous testing of the relative parallelism between the rollers is essential. Currently, commonly used measurement methods are based on optical principles and require the installation of reference mirrors between the rollers and the ground. This not only requires light access, but is also time-consuming and labor-intensive. Furthermore, the accuracy of the measurement results is highly dependent on operator input, resulting in poor repeatability. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, the present invention provides a method and device for measuring horizontality and parallelism.

[0005] The technical solutions of the present invention are as follows:

[0006] According to one aspect, a method for measuring horizontality and parallelism is provided, the method comprising:

[0007] Use a level to adjust the calibration plate to a level;

[0008] placing the gyroscope on the calibration board to prepare and calibrate the gyroscope;

[0009] After the gyroscope is prepared and calibrated, obtain the calibration board attitude;

[0010] Acquire the coordinates of the calibration plate space vector in the navigation coordinate system based on the calibration plate posture;

[0011] Acquire the coordinates of the measured space vector in the navigation coordinate system based on the gyroscope;

[0012] The relative parallelism and horizontality of the measured space vector are acquired based on the coordinates of the measured space vector in the navigation coordinate system and the coordinates of the calibration plate space vector in the navigation coordinate system.

[0013] Furthermore, the calibration plate has an L-shaped resting surface, and the gyroscope is fitted with the L-shaped resting surface during preparation and calibration.

[0014] Furthermore, the method further comprises:

[0015] During the measurement of multiple measured space vectors, the gyroscope needs to be calibrated using the calibration board every time it is used for more than a set time. The calibration is completed when the gyroscope is placed on the calibration board and is stably attached to its L-shaped surface.

[0016] Furthermore, the calibration plate posture is obtained by:

[0017] The azimuth angle of the calibration plate is obtained using the angular velocity sensitive to the gyroscope;

[0018] The calibration plate posture is acquired based on the azimuth angle.

[0019] Furthermore, the angular velocity sensitive to the gyroscope is used to obtain the azimuth angle of the calibration plate through the following formula:

[0020]

[0021] in, The angular velocity to which the X-gyro and Z-gyro are sensitive; is the azimuth of the calibration plate.

[0022] Furthermore, the calibration plate posture and calibration plate space vector are obtained by the following formula: Coordinates in the navigation coordinate system:

[0023] The calibration plate posture is:

[0024] The calibration plate space vector The coordinates in the navigation coordinate system are

[0025] Furthermore, obtaining the coordinates of the measured space vector in the navigation coordinate system based on the gyroscope includes:

[0026] The gyroscope is rotated by a preset angle with the measured space vector as the rotation axis to obtain multiple measurement positions within the preset angle, and multiple attitude conversion matrices corresponding to the multiple measurement positions are obtained;

[0027] The projections of multiple vertical vectors perpendicular to the measured space vector in the navigation coordinate system are obtained based on multiple attitude transformation matrices;

[0028] The coordinate value of the measured space vector in the navigation coordinate system is calculated by using the projection of multiple vertical vectors in the navigation coordinate system.

[0029] Furthermore, obtaining the relative parallelism and horizontality of the measured space vector based on the coordinates of the measured space vector in the navigation coordinate system and the coordinates of the calibration plate space vector in the navigation coordinate system includes:

[0030] Assuming that the coordinates of the measured space vector in the navigation coordinate system are (x1, y1, z1), then the horizontality of the measured space vector relative to the calibration plate space vector is y1-0=y1;

[0031] Decomposing the coordinates of the measured space vector in the navigation coordinate system and the coordinates of the calibration plate space vector in the navigation coordinate system to obtain their respective corresponding azimuths;

[0032] The parallelism of the measured space vector relative to the calibration plate space vector is obtained by subtracting the azimuth angle corresponding to the measured space vector from the azimuth angle corresponding to the calibration plate space vector.

[0033] Furthermore, the parallelism of the measured space vector relative to the calibration plate space vector is obtained by the following formula:

[0034] The parallelism of the measured space vector relative to the calibration plate space vector is

[0035] According to another aspect, a device for measuring horizontality and parallelism is provided, wherein the device performs horizontality and parallelism measurement based on the above method, and the device comprises:

[0036] A gyroscope, wherein the gyroscope is used to obtain the coordinates of the measured space vector in the navigation coordinate system;

[0037] A calibration plate, the calibration plate being placed on a rigid ground surface and having an L-shaped support surface, the calibration plate being used for gyroscope preparation and calibration, wherein the gyroscope is placed on the calibration plate and is in contact with the L-shaped support surface;

[0038] A level is provided on the calibration plate, and is used to adjust the calibration plate to a level.

[0039] The above technical solution combines a gyroscope, a calibration plate, and a spirit level. The calibration plate is used to prepare and calibrate the gyroscope multiple times. The relative parallelism and horizontality of the measured spatial vector are obtained by using the coordinates of the measured spatial vector in the navigation coordinate system obtained by the gyroscope and the coordinates of the spatial vector on the calibration plate in the navigation coordinate system. This allows for efficient and high-precision measurement of the relative parallelism and horizontality of a large number of spatial vectors. Furthermore, the present invention offers advantages such as convenient calibration (calibration is completed by simply placing the gyroscope on the surface of the calibration plate), good repeatability, short preparation and calibration time, no need for gyroscope re-preparation, and low cost (no need for the more expensive three-axis accelerometer in the inertial device). This method has excellent prospects for engineering applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are included to provide a further understanding of the embodiments of the present invention, constitute a part of the specification, illustrate the embodiments of the present invention, and together with the description, explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0041] Figure 1 A schematic diagram of the appearance of a level and a calibration plate provided according to a specific embodiment of the present invention is shown;

[0042] Figure 2 A schematic diagram of a measurement environment provided according to a specific embodiment of the present invention is shown;

[0043] Figure 3 A schematic flow chart of a method for measuring horizontality and parallelism according to a specific embodiment of the present invention is shown;

[0044] The above drawings include the following reference numerals:

[0045] 10. Gyroscope; 20. Level; 30. Calibration plate; 100. Axis cylinder. DETAILED DESCRIPTION

[0046] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments in 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.

[0047] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0048] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0049] like Figure 1-3 As shown, in one embodiment of the present invention, a method for measuring horizontality and parallelism is provided, the method comprising:

[0050] S10, using the level 20 to adjust the calibration plate 30 to a level;

[0051] S20, placing the gyroscope 10 on the calibration plate 30 to prepare and calibrate the gyroscope 10;

[0052] S30, after the gyroscope 10 is prepared and calibrated, the posture of the calibration board 30 is obtained;

[0053] S40, acquiring the coordinates of the space vector of the calibration plate 30 in the navigation coordinate system based on the posture of the calibration plate 30;

[0054] S50, obtaining the coordinates of the measured space vector in the navigation coordinate system based on the gyroscope 10;

[0055] S60 . Obtain the relative parallelism and horizontality of the measured space vector based on the coordinates of the measured space vector in the navigation coordinate system and the coordinates of the space vector of the calibration plate 30 in the navigation coordinate system.

[0056] The present invention relates to the following coordinate systems:

[0057] a) Strapdown inertial navigation system carrier coordinate system (OXbYbZb)

[0058] The "front-up-right" coordinate system is used. The coordinate origin is the center of mass of the vehicle. The OXb axis is along the longitudinal axis of the inertial navigation system and is positive forward. The OYb axis is along the vertical axis of the inertial navigation system and is positive upward. The OZb axis is along the horizontal axis of the inertial navigation system and is positive rightward.

[0059] b) Geographic coordinate system (OXgYgZg)

[0060] The "North-Sky-East" coordinate system is used. The coordinate origin is the center of mass of the inertial navigation system. The OXg axis is along the geographic north-south direction, with north as the positive axis; the OYg axis is along the geographic sky direction, with the sky as the positive axis; and the OZg axis is along the geographic east-west direction, with east as the positive axis.

[0061] c) Navigation coordinate system (OXnYnZn)

[0062] Select Geographic Coordinate System as the navigation coordinate system.

[0063] Those skilled in the art will appreciate that gyroscope 10 is a handheld device primarily composed of a three-axis optical gyroscope, computer circuitry, a display and keyboard, a power supply, and other structural components. It features handles on both sides for easy handling, and a flat base structure to facilitate alignment with calibration plate 30 and the measured spatial vector.

[0064] That is, the method for measuring horizontality and parallelism provided by the embodiment of the present invention is based on the gyroscope 10, the calibration plate 30 and the level 20, as shown in FIG. Figure 2 As shown, the calibration plate 30 can be a rectangular metal plate, fixed on a rigid ground, with knobs for adjusting the height at the four corners, and the bubble level 20 is installed on the calibration plate 30 to adjust the level of the calibration plate 30. Figure 2 shown.

[0065] The embodiment of the present invention combines a gyroscope, a calibration plate, and a spirit level 2. The calibration plate is used to prepare and calibrate the gyroscope multiple times. The relative parallelism and horizontality of the measured spatial vector are obtained by using the coordinates of the measured spatial vector in the navigation coordinate system obtained by the gyroscope and the coordinates of the spatial vector on the calibration plate in the navigation coordinate system. This allows for efficient and high-precision measurement of the relative parallelism and horizontality of a large number of spatial vectors. Furthermore, the present invention has advantages such as convenient calibration (calibration is completed by simply placing the gyroscope on the surface of the calibration plate), good repeatability, short preparation and calibration time, no need for gyroscope re-preparation, and low cost (no need for the more expensive three-axis accelerometer in the inertial device), and has excellent prospects for engineering applications.

[0066] In the above embodiment, if Figure 1-2 As shown, in order to ensure the accuracy of calibration, the calibration plate 30 has an L-shaped support surface, and the gyroscope 10 is in contact with the L-shaped support surface during preparation and calibration.

[0067] In the above embodiment, the method further includes:

[0068] During the measurement of multiple measured space vectors, the gyroscope 10 needs to be calibrated using the calibration plate 30 every time it is used for more than a set time. The calibration is completed when the gyroscope 10 is placed on the calibration plate 30 and is stably attached to its L-shaped surface.

[0069] That is, the handheld gyroscope 10 is fitted with other axis systems to complete the measurement of the relative parallelism and horizontality of other axis systems. Since the gyroscope 10 itself has errors, the attitude angle error of the measured axis system becomes larger as time accumulates. Generally, calibration is required if the measurement exceeds the set time (for example, 30 minutes) to ensure that the attitude angle error of the measured axis system is within the required range.

[0070] In this embodiment of the present invention, since calibration plate 30 is already fixed to a rigid surface and the spatial vector of calibration plate 30 has been recorded, when the base of gyroscope 10 is again aligned with calibration plate 30 and its L-shaped support surface and stabilized, gyroscope 10 directly obtains the coordinate value of the reference spatial vector, thus completing calibration. This embodiment of the present invention provides convenient calibration, good repeatability, short preparation and calibration time, and eliminates the need for re-preparation of gyroscope 10.

[0071] It can be seen that when obtaining the horizontality and parallelism of multiple measured space vectors, the working steps of the embodiment of the present invention are as follows:

[0072] a) Preparation: Calibration board 30 is fixed on a rigid surface and leveled using spirit level 20 and the height adjustment knob. The base of gyroscope 10 is fitted against calibration board 30 and its L-shaped support surface for preparation and calibration of gyroscope 10. Gyroscope 10 uses a three-axis gyroscope to sense the Earth's rotational angular velocity. Preparation typically takes 20 minutes to determine the attitude of calibration board 30.

[0073] b) measurement: obtaining the coordinates of the measured space vector in the navigation coordinate system based on the gyroscope 10;

[0074] c) Calibration: Since the calibration plate 30 has been fixed on the rigid ground and the spatial vector of the calibration plate 30 has been recorded, when the base of the gyroscope 10 is again attached to the calibration plate 30 and its L-shaped support surface and stabilized, the gyroscope 10 will directly obtain the coordinate value of the reference spatial vector, thus completing the calibration.

[0075] Repeat steps b and c until all axis systems are measured.

[0076] In the above embodiment, the posture of the calibration plate 30 can be obtained by:

[0077] The azimuth angle of the calibration plate 30 is obtained using the angular velocity sensed by the gyroscope 10;

[0078] The posture of the calibration plate 30 is acquired based on the azimuth angle.

[0079] In the embodiment of the present invention, the azimuth angle of the calibration plate 30 is obtained by using the angular velocity sensitive to the gyroscope 10 through the following formula:

[0080]

[0081] in, The angular velocity to which the X-gyro and Z-gyro are sensitive; is the azimuth angle of the calibration plate 30.

[0082] That is, when the gyroscope 10 is first prepared and calibrated, the gyroscope 10 uses a three-axis gyroscope to sense the Earth's rotational angular velocity to complete the preparation, which generally takes 20 minutes to obtain the attitude of the calibration plate 30. According to the characteristics of the Earth's rotational angular velocity, when the calibration plate 30 is horizontal, the east angular velocity is 0, that is: According to this formula, the posture of the calibration plate 30 can be calculated Then use the posture Get the special edition space vector The coordinate value in the navigation coordinate system is Since the calibration plate 30 has been fixed on the rigid ground, the space vector of the calibration plate 30 is used as the reference vector, and the gyroscope 10 does not need to be re-prepared after being powered off.

[0083] In the above embodiment, in order to obtain the coordinates of the measured space vector in the navigation coordinate system, the above-mentioned obtaining the coordinates of the measured space vector in the navigation coordinate system based on the gyroscope 10 includes:

[0084] The gyroscope 10 is rotated by a preset angle with the measured space vector as the rotation axis to obtain multiple measurement positions within the preset angle, and multiple attitude conversion matrices corresponding to the multiple measurement positions are obtained;

[0085] The projections of multiple vertical vectors perpendicular to the measured space vector in the navigation coordinate system are obtained based on multiple attitude transformation matrices;

[0086] The coordinate value of the measured space vector in the navigation coordinate system is calculated by using the projection of multiple vertical vectors in the navigation coordinate system.

[0087] Among them, the form in the document "Principle of Strapdown Inertial Navigation" is adopted. It represents the attitude transformation matrix from the navigation coordinate system to the carrier coordinate system, and its expression is:

[0088]

[0089] γ represents the system roll angle, represents the system azimuth angle, θ represents the system elevation angle, for The above angles can be calculated by integrating the real-time angular velocity of the gyroscope 10 and are known quantities.

[0090] After preparation or calibration, the handheld gyroscope 10 is fitted to the surface of the axis cylinder 100. Since the bottom surface of the gyroscope 10 is in line contact with the space vector, the attitude angle cannot be directly obtained through navigation calculation to obtain the space vector attitude. Instead, a coordinate transformation is required to obtain the vector perpendicular to the measured vector:

[0091]

[0092] Represents the projection of the vector perpendicular to the measured vector in the navigation coordinate system, Represents the projection of the vector perpendicular to the measured vector in the carrier coordinate system (a fixed unit vector), Represents the attitude transformation matrix from the carrier coordinate system to the navigation coordinate system (calculated by real-time angular velocity integration).

[0093] Similarly, the inertial device is rotated with the space vector as the axis of rotation through an angle Δγ, which is generally greater than 20 degrees, to ensure measurement accuracy and obtain a vector perpendicular to the measured vector. for:

[0094]

[0095] in, Therefore, the measured space vector The coordinates in the navigation coordinate system are:

[0096]

[0097] In the above embodiment, obtaining the relative parallelism and horizontality of the measured space vector based on the coordinates of the measured space vector in the navigation coordinate system and the coordinates of the space vector of the calibration plate 30 in the navigation coordinate system includes:

[0098] Assume that the coordinates of the measured space vector in the navigation coordinate system are (x1, y1, z1), and the calibration plate 30 vector (reference vector) is The coordinates are Then the horizontality of the measured space vector relative to the space vector of the calibration plate 30 is y1-0=y1;

[0099] Decomposing the coordinates of the measured space vector in the navigation coordinate system and the coordinates of the space vector of the calibration plate 30 in the navigation coordinate system respectively to obtain their corresponding azimuth angles;

[0100] The parallelism of the measured space vector relative to the space vector of the calibration plate 30 is obtained by subtracting the azimuth angle corresponding to the measured space vector from the azimuth angle corresponding to the space vector of the calibration plate 30 .

[0101] In the embodiment of the present invention, the parallelism of the measured space vector relative to the space vector of the calibration plate 30 is obtained by the following formula:

[0102] The parallelism of the measured space vector relative to the space vector of the calibration plate 30 is

[0103] like Figure 1-2 As shown, in another embodiment of the present invention, a device for measuring horizontality and parallelism is provided, and the device performs horizontality and parallelism measurement based on the above-mentioned method, and the device includes a gyroscope 10, a calibration plate 30 and a spirit level 20, and the gyroscope 10 is used to obtain the coordinates of the measured space vector in the navigation coordinate system; the calibration plate 30 is placed on a rigid ground, and the calibration plate 30 has an L-shaped support surface, and the calibration plate 30 is used to prepare and calibrate the gyroscope 10, wherein the gyroscope 10 is arranged on the calibration plate 30 and is arranged in contact with the L-shaped support surface; the spirit level 20 is arranged on the calibration plate 30, and the spirit level 20 is used to adjust the calibration plate 30 to be horizontal.

[0104] The detailed description of the device of the embodiment of the present invention can be found in the previous embodiment, which will not be repeated here.

[0105] In summary, the embodiments of the present invention combine a gyroscope, a calibration plate, and a spirit level. The calibration plate is used to prepare and calibrate the gyroscope multiple times. The coordinates of the measured spatial vector in the navigation coordinate system obtained by the gyroscope and the coordinates of the spatial vector on the calibration plate in the navigation coordinate system are used to obtain the relative parallelism and horizontality of the measured spatial vector. This enables efficient and high-precision measurement of the relative parallelism and horizontality of a large number of spatial vectors. Furthermore, the present invention has the advantages of convenient calibration (calibration is completed by placing the gyroscope on the surface of the calibration plate), good repeatability, short preparation and calibration time, and low cost (no need for the more expensive three-axis accelerometer in the inertial device). In addition, the present invention does not require measurement of the reference axis and the gyroscope does not need to be re-prepared, which greatly saves time and has good engineering application prospects.

[0106] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0107] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0108] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for measuring horizontality and parallelism, characterized in that: The method comprises: Use a level to adjust the calibration plate to a level; placing the gyroscope on the calibration board to prepare and calibrate the gyroscope; After the gyroscope is prepared and calibrated, obtain the calibration board attitude; Acquire the coordinates of the calibration plate space vector in the navigation coordinate system based on the calibration plate posture; Acquire the coordinates of the measured space vector in the navigation coordinate system based on the gyroscope; Obtaining relative parallelism and horizontality of the measured space vector based on the coordinates of the measured space vector in the navigation coordinate system and the coordinates of the calibration plate space vector in the navigation coordinate system; The calibration plate has an L-shaped resting surface, and the gyroscope is in contact with the L-shaped resting surface during preparation and calibration; The method further comprises: During the measurement of multiple measured space vectors, the gyroscope needs to be calibrated using the calibration board every time it is used for more than a set time, wherein the calibration is completed when the gyroscope is placed on the calibration board and is in stable contact with its L-shaped surface; Get the calibration board posture in the following way: The azimuth angle of the calibration plate is obtained using the angular velocity sensitive to the gyroscope; Acquire a calibration plate posture based on the azimuth angle; The azimuth angle of the calibration plate is obtained using the angular velocity sensitive to the gyroscope through the following formula: in, The angular velocity to which the X-gyro and Z-gyro are sensitive; is the azimuth of the calibration plate; The calibration plate posture and calibration plate space vector are obtained by the following formula Coordinates in the navigation coordinate system: The calibration plate posture is: The calibration plate space vector The coordinates in the navigation coordinate system are Obtaining relative parallelism and horizontality of the measured space vector based on the coordinates of the measured space vector in the navigation coordinate system and the coordinates of the calibration plate space vector in the navigation coordinate system, comprising: Assuming that the coordinates of the measured space vector in the navigation coordinate system are (x1, y1, z1), then the horizontality of the measured space vector relative to the calibration plate space vector is y1-0=y1; Decomposing the coordinates of the measured space vector in the navigation coordinate system and the coordinates of the calibration plate space vector in the navigation coordinate system to obtain their respective corresponding azimuths; Subtract the azimuth angle corresponding to the calibration plate space vector from the azimuth angle corresponding to the measured space vector to obtain the parallelism of the measured space vector relative to the calibration plate space vector:

2. A method for measuring horizontality and parallelism according to claim 1, characterized in that: Acquiring the coordinates of the measured space vector in the navigation coordinate system based on the gyroscope includes: The gyroscope is rotated by a preset angle with the measured space vector as the rotation axis to obtain multiple measurement positions within the preset angle, and multiple attitude conversion matrices corresponding to the multiple measurement positions are obtained; The projections of multiple vertical vectors perpendicular to the measured space vector in the navigation coordinate system are obtained based on multiple attitude transformation matrices; The coordinate value of the measured space vector in the navigation coordinate system is calculated by using the projection of multiple vertical vectors in the navigation coordinate system.

3. A device for measuring levelness and parallelism, said device performing levelness and parallelism measurement based on the method according to any one of claims 1 to 2, said device comprising: A gyroscope, wherein the gyroscope is used to obtain the coordinates of the measured space vector in the navigation coordinate system; A calibration plate, the calibration plate being placed on a rigid ground surface and having an L-shaped support surface, the calibration plate being used for gyroscope preparation and calibration, wherein the gyroscope is arranged on the calibration plate and is in contact with the L-shaped support surface; A level is provided on the calibration plate, and is used to adjust the calibration plate to a level.

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