A high-precision measurement method for the attitude angle error of an inertial navigation system under a tilted state of a vehicle

Abstract

The present invention relates to a high-precision method for measuring the attitude angular error of an inertial navigation system (INS) when a vehicle is tilted. The method comprises the following steps: assembling and adjusting two sets of measurement components so that the measurement axis of a high-precision electronic level in each measurement component is aligned with the normal axis of an optical hexahedron; aligning the measurement axis of measurement component B with the normal axis of a bow mirror of a resonant inertial navigation system (RIS); mounting measurement component A on a single-axis turntable so that its measurement axis is parallel to the azimuth normal of the bow mirror of the RIS; mounting the aligned and assembled measurement component B and the RINS platform on the single-axis turntable so that the measurement axis of measurement component B is parallel to the azimuth normal of the bow mirror of the RIS; rotating the single-axis turntable to simulate the rolling state of the vehicle and measuring the attitude angular error of the RINS; adjusting the azimuth angle of the RINS relative to measurement component B and measuring the attitude angular error of the RINS; and constructing an attitude angular error compensation value for precise compensation. This method ensures the navigation accuracy of the RINS.

Description

Technical Field

[0001] The present invention belongs to the field of resonant inertial navigation systems, and in particular relates to a high-precision measurement method for the attitude angle error of an inertial navigation system when a vehicle is tilted. Background Art

[0002] A resonant inertial navigation system (RIS) is a new type of inertial navigation system (INS) that uses a resonant gyroscope as its core sensor, combined with an accelerometer. INS typically uses a strapdown installation, where the INS is rigidly connected to the vehicle. Once the vehicle's coordinates are known, the attitude matrix of each inertial element in the INS can be calculated using an attitude transformation matrix, enabling navigation data to be calculated.

[0003] However, in actual applications, in order to prevent external impact vibration from damaging the inertial components in the resonant inertial navigation system 1, a rubber vibration damping device 2 is used between the resonant inertial navigation system and the mounting base 3, such as Figure 1 As shown in the figure, when the vehicle deflects a certain angle α, the rubber vibration damper acts as an elastic element. Under the action of gravity torque, the rubber vibration damper is unevenly stressed, resulting in uneven deformation, which causes the attitude angle of the resonant inertial navigation system to rotate by β relative to the vehicle.

[0004] To eliminate interference caused by the RINS's own attitude angle changes when the vehicle is tilted, a high-precision method for measuring the RINS's attitude angle error is needed. By measuring the RINS's attitude angle changes relative to the vehicle at different tilt states, a compensation matrix is formed to improve the RINS's navigation accuracy. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a high-precision measurement method for the attitude angle error of an inertial navigation system when a vehicle is tilted.

[0006] The above-mentioned purpose of the present invention is achieved through the following technical solutions:

[0007] A method for high-precision measurement of the attitude angle error of an inertial navigation system under an inclined state of a vehicle is characterized by being achieved by adjusting a measuring component A and a measuring component B in place, wherein both measuring components are composed of a high-precision electronic level and an optical hexahedron fixed at the upper end thereof, and comprising the following steps:

[0008] Step 1: Assemble and adjust two sets of measuring components in sequence so that the measuring axis of the high-precision electronic level in each set of measuring components is consistent with the normal axis of the optical regular hexahedron;

[0009] Step 2: Align the measurement component B with the resonant inertial navigation system platform and assemble them so that the measurement axis of the measurement component B is perpendicular to the normal axis of the bow mirror of the resonant inertial navigation system;

[0010] Step 3: Install the measuring assembly A on the single-axis turntable so that the measuring axis of the measuring assembly A is parallel to the azimuth normal of the bow mirror of the single-axis turntable;

[0011] Step 4: Install the assembled measurement component B and the resonant inertial navigation system platform onto the single-axis turntable, so that the measurement axis of the measurement component B is parallel to the azimuth normal of the bow mirror of the single-axis turntable;

[0012] Step 5: Rotate the single-axis turntable to simulate the rolling state of the vehicle, and measure the attitude angle error of the resonant inertial navigation system in this state;

[0013] Step 6: Adjust the azimuth angle of the resonant inertial navigation system relative to the measurement component B, then rotate the resonant inertial navigation system 90° and install it on the single-axis turntable. After adjustment, rotate the single-axis turntable to simulate the vehicle's pitch state. In this state, measure the attitude angle error of the resonant inertial navigation system.

[0014] Step 7: The attitude angle error compensation amount is formed by the rotation angle of the single-axis turntable in step 5 and the corresponding attitude angle error of the resonant inertial navigation system at the rotation angle, and the rotation angle of the single-axis turntable in step 6 and the corresponding attitude angle error of the resonant inertial navigation system at the rotation angle, so as to accurately compensate the attitude angle of the resonant inertial navigation system.

[0015] Furthermore, the auxiliary devices used in step 1 include: a high-precision dual-axis turntable and two theodolites; step 1 includes the following steps:

[0016] 1.1. Leveling high-precision dual-axis turntable

[0017] Set the angles of the inner and outer frames of the dual-axis turntable to 0°, place a high-precision electronic level on the inner frame surface, and adjust the jack supporting the dual-axis turntable so that the high-precision electronic level reading is less than 1", ensuring that the inner frame surface is parallel to the horizontal plane;

[0018] 1.2. Align the measuring axis of the high-precision electronic level with the outer frame axis of the high-precision dual-axis turntable

[0019] 1) First rotate the inner frame of the dual-axis turntable to initially align the measurement axis of the high-precision electronic level with the axis of the dual-axis turntable outer frame;

[0020] 2) Then rotate the outer frame of the dual-axis turntable 15° clockwise, and after it stops, slightly rotate the inner frame of the dual-axis turntable until the reading on the high-precision electronic level is less than 1". Rotate the outer frame of the dual-axis turntable 15° clockwise again, and after it stops, slightly rotate the inner frame of the dual-axis turntable until the reading on the high-precision electronic level is less than 1". Then secure the high-precision electronic level.

[0021] 3) Then rotate the outer frame of the dual-axis turntable to any angle within the range of -30° to 30° and re-measure to see if the reading of the high-precision electronic level is less than 1". If the reading of the high-precision electronic level is always less than 1" at any angle, confirm that the measuring axis of the high-precision electronic level is aligned with the axis of the outer frame.

[0022] 1.3. Use the method of mutual aiming of two theodolites to install the optical hexahedron on the fixed high-precision electronic level

[0023] 1) Based on step 1.2, first set the outer frame of the high-precision dual-axis turntable to 0;

[0024] 2) Set up the autocollimation theodolite A along the measuring axis of the high-precision electronic level, align the autocollimation theodolite A with the outer frame axis head mirror, and set the azimuth reading of the autocollimation theodolite A to 0°;

[0025] 3) Set up autocollimation theodolite B in a direction perpendicular to the measurement axis of the high-precision electronic level. Specifically, rotate autocollimation theodolites A and B separately, aiming them at each other, and record the azimuth reading of theodolite A at this time as α; set the azimuth reading of autocollimation theodolite B to (180+α)°, rotate autocollimation theodolite B until its azimuth reading is 270°, and then fix theodolite B in place.

[0026] 4) Adjust the position and orientation of the optical hexahedron on the surface of the high-precision electronic level until the autocollimation theodolite B forms an image and the angle deviation is adjusted to less than 1". Finally, fix the optical hexahedron to the upper surface of the high-precision electronic level to complete the installation of the optical hexahedron.

[0027] Furthermore: the method for vertically adjusting the measuring axis of the measuring component B and the normal axis of the bow mirror of the resonant inertial navigation system in step 2, the method for parallelizing the measuring axis of the measuring component A and the azimuth normal of the bow mirror of the single-axis turntable in step 3, and the method for parallelizing the measuring axis of the measuring component B and the azimuth normal of the bow mirror of the single-axis turntable in step 4 all adopt the installation method of the optical regular hexahedron in step 1.

[0028] Further: Step 5 includes the following steps:

[0029] 5.1. Set the single-axis turntable angle to 0°, read the reading of measuring component B as β1″ and the reading of measuring component A as β2″, then the initial differential reading value Δ0 of measuring component B and measuring component A is β1″-β2″;

[0030] 5.2. Rotate the single-axis turntable by α°. When it comes to rest, the reading of measurement component B is β. i1 ″, the reading of measuring component A is β i2″, when the resonant inertial navigation system is tilted to α°, the differential reading value Δ between the measurement component B and the measurement component A is i =β i1 ″-β i2 ″, then under the action of gravity moment, the attitude angle error of the resonant inertial navigation system is ζ=(Δ i -Δ0);

[0031] 5.3. By measuring the differential reading value Δ between measurement component B and measurement component A at a specific angle of the single-axis turntable i and Δ0, the attitude angle error ζ of the resonant inertial navigation system when the vehicle rolls is plotted as Δ i -Δ0)″ changes with the system tilt state α°.

[0032] Further: Step 6 includes the following steps:

[0033] 6.1. Remove measurement assembly B and rotate it 90° to align the measurement axis of measurement assembly B with the normal axis of the bow mirror of the resonant inertial navigation system, ensuring that the angular deviation is less than 1". After adjustment, securely install measurement assembly B on the upper surface of the resonant inertial navigation system platform.

[0034] 6.2. Set the single-axis turntable angle to 0, rotate the resonant inertial navigation system platform and measurement assembly B 90°, and adjust the measurement axis of measurement assembly B to be parallel to the normal axis of the turntable bow mirror, ensuring that the azimuth angle deviation is less than 1". After adjustment, secure the resonant inertial navigation system platform and measurement assembly B assembly to the turntable plane.

[0035] 6.3. Repeat step 5, setting the single-axis turntable angle to δ°, and plot the curve of the resonant inertial navigation system attitude deflection angle γ as the system tilt state δ° changes when the vehicle pitches.

[0036] The present invention has the following advantages and positive effects:

[0037] 1. The present invention uses a turntable, a high-precision electronic level, an autocollimation theodolite, and an optical hexahedron, and utilizes an optical alignment method to accurately measure the deformation of the attitude angle of the resonant inertial navigation system under different tilt states, thereby forming an attitude angle error compensation value, thereby ensuring the navigation accuracy of the resonant inertial navigation system.

[0038] 2. The instruments or equipment used in the present invention are general instruments and equipment, which have the advantages of simple operation and easy implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the installation of the resonant inertial navigation system;

[0040] Figure 2 It is a schematic diagram of attitude angle change of resonant inertial navigation system;

[0041] Figure 3 Schematic diagram of the high-precision leveling dual-axis turntable of the present invention;

[0042] Figure 4 This is a schematic diagram of the alignment of the measuring axis and the outer frame axis of the present invention;

[0043] Figure 5 This is a schematic diagram of the installation of the optical hexahedron of the present invention;

[0044] Figure 6 This is a schematic diagram of the first installation of the measurement component B of the present invention;

[0045] Figure 7 This is a schematic diagram of the installation of the measurement component A of the present invention;

[0046] Figure 8 This is a schematic diagram of the second installation of the measurement component B of the present invention;

[0047] Figure 9 This is a schematic diagram of attitude deflection angle measurement of the resonant inertial navigation system of the present invention;

[0048] Figure 10 This is a schematic diagram of the angle measurement of the electronic level A and B at the 0° position of the single-axis turntable of the present invention;

[0049] Figure 11 It is a schematic diagram of angle measurement of the electronic level A and B at the α° position of the single-axis turntable of the present invention. DETAILED DESCRIPTION

[0050] The structure of the present invention will be further described below with reference to the accompanying drawings and through examples. It should be noted that the present examples are descriptive rather than restrictive.

[0051] A high-precision measurement method for the attitude angle error of an inertial navigation system under a tilted vehicle state. Figure 1-11 The invention is to achieve this by using two sets of adjusted measuring components, each of which is composed of a high-precision electronic level and an optical hexahedron fixed on its upper end, including the following steps:

[0052] Step 1: assemble and adjust two sets of measuring components in sequence so that the measuring axis of the high-precision electronic level in each set of measuring components is consistent with the normal axis of the optical hexahedron. The auxiliary devices used include: a high-precision dual-axis turntable 4 and two theodolites. Step 1 includes the following steps:

[0053] 1.1. Leveling high-precision dual-axis turntable

[0054] like Figure 3, set the angles of the inner frame 4.1 and the outer frame 4.3 of the dual-axis turntable to 0°, place a high-precision electronic level 5 on the inner frame table, and adjust the jack 4.4 supporting the dual-axis turntable so that the high-precision electronic level reading is less than 1", ensuring that the inner frame table is parallel to the horizontal plane.

[0055] 1.2. Align the measuring axis 5.1 of the high-precision electronic level with the outer frame axis 4.2 of the high-precision dual-axis turntable.

[0056] First, rotate the inner frame of the dual-axis turntable to initially align the measuring axis of the high-precision electronic level with the axis of the outer frame of the dual-axis turntable; then rotate the outer frame of the dual-axis turntable 15° clockwise, and after it stops, slightly rotate the inner frame of the dual-axis turntable so that the indication of the high-precision electronic level is less than 1"; rotate the outer frame of the dual-axis turntable 15° clockwise again, and after it stops, slightly rotate the inner frame of the dual-axis turntable so that the indication of the high-precision electronic level is less than 1" again; then fix the high-precision electronic level firmly; then re-measure, when rotating the outer frame of the dual-axis turntable to any angle within the range of -30° to 30°, observe whether the indication of the high-precision electronic level is less than 1". If the outer frame of the dual-axis turntable is within the angle range of -30° to 30°, and the indication of the high-precision electronic level is always less than 1" when measuring at any angle, it is considered that the measuring axis of the high-precision electronic level has been aligned with the axis of the outer frame.

[0057] 1.3. Use the method of mutual aiming of two theodolites to install the optical hexahedron 6 on the fixed high-precision electronic level.

[0058] To ensure subsequent measurement accuracy, the optical hexahedron must be mounted above a high-precision electronic level. To eliminate the misalignment between the normal axis 6.1 of the optical hexahedron and the measurement axis of the high-precision electronic level, the optical hexahedron is mounted using a dual-theodolite alignment method.

[0059] On the basis of step 1.2, set the outer frame of the high-precision dual-axis turntable to 0. Set up the autocollimation theodolite A8 along the measuring axis of the high-precision electronic level, align the autocollimation theodolite A with the outer frame axis head mirror 7 (the axis of the outer frame axis head mirror is parallel to the axis of the outer frame), and set the azimuth reading of the autocollimation theodolite A to 0°; set up the autocollimation theodolite B9 in the direction perpendicular to the measuring axis of the high-precision electronic level, and then rotate the autocollimation theodolites A and B respectively, aim theodolites A and B at each other, and record the azimuth reading of theodolite A at this time as α; set the azimuth reading of the autocollimation theodolite B to (180+α)°, rotate the autocollimation theodolite B9, and then rotate the autocollimation theodolites A and B respectively. Adjust theodolite B until its azimuth reading is 270°, and fix theodolite B (that is, set up the autocollimation theodolite B in a direction perpendicular to the measuring axis of the high-precision electronic level. "This refers to the approximate initial azimuth of the theodolite B. The final azimuth of the theodolite is found through the above-described operation); adjust the position and azimuth of the optical hexahedron on the surface of the high-precision electronic level until the autocollimation theodolite B is imaged and the angle deviation is adjusted to less than 1"; finally, fix the optical hexahedron on the upper surface of the high-precision electronic level to complete the installation of the optical hexahedron.

[0060] Both sets of measuring components are assembled and adjusted according to the above step 1. The two sets of measuring components are measuring component A12 and measuring component B10.

[0061] Step 2: Assemble the measurement component B and the resonant inertial navigation system platform.

[0062] Place the resonant inertial navigation system on a leveled marble plate and measurement assembly B on the resonant inertial navigation system platform. Using the resonant inertial navigation system heading mirror 11 and the optical hexahedron of measurement assembly B, optically align the measurement axis of measurement assembly B with the normal axis of the system's heading mirror (the adjustment process is the same as the process of installing the optical hexahedron in step 1.3). The vertical angle deviation should be less than 1". After adjustment, secure measurement assembly B to the surface of the resonant inertial navigation system platform.

[0063] Step 3: Install the measuring component A on the single-axis turntable 13

[0064] Set the single-axis turntable angle to 0° and place the measuring component A on the single-axis turntable plane, as shown in the following example: Figure 5 Set up theodolites A and B, and adjust measurement assembly A so that the azimuth normal of the optical hexahedron on it is perpendicular to the azimuth normal axis of the turntable bow mirror 14, ensuring that the vertical deviation of the azimuth angle is less than 1". (The adjustment process is the same as the process of installing the optical hexahedron in step 1.3). Then, make the measuring axis of measurement assembly A parallel to the azimuth normal of the turntable bow mirror. After adjustment, fix measurement assembly A on the plane of the single-axis turntable.

[0065] Step 4: Install the assembled measurement component B and the resonant inertial navigation system platform onto the single-axis turntable;

[0066] Place the resonant inertial navigation system platform and measurement component B in step 2 on the single-axis turntable plane, as shown in Figure 6 Using theodolites A and B and the azimuth normal of the turntable's bow mirror as the azimuth reference, adjust the azimuth normal of the optical hexahedron on measurement assembly B to be perpendicular to the azimuth normal of the turntable's bow mirror, ensuring that the vertical angle deviation is less than 1" (the adjustment process is the same as the process of installing the optical hexahedron in step 1.3). Ensure that the measuring axis of measurement assembly B is parallel to the azimuth normal of the turntable's bow mirror. After adjustment, secure the resonant inertial navigation system platform and measurement assembly B to the turntable plane.

[0067] Step 5: Rotate the single-axis turntable to simulate the rolling state of the vehicle, and measure the attitude angle error of the resonant inertial navigation system in this state.

[0068] Through steps 1-4 above, using two theodolites, a turntable heading mirror, a resonant inertial navigation system heading mirror, and an optical hexahedron, optical aiming can ensure that the measuring axes of measurement components A and B are parallel and perpendicular to the rotation axis of the single-axis turntable. This eliminates measurement errors caused by non-parallel measurement axes between measurement components A and B and non-perpendicular measurement components A and B to the turntable axis.

[0069] Set the single-axis turntable angle to 0°, read the reading of measuring component B as β1″ and the reading of measuring component A as β2″, then the initial differential reading value Δ0 of measuring component B and measuring component A is β1″-β2″.

[0070] Rotate the single-axis turntable by α°, and after it stops, the reading of the measuring component B is β i1 ″, the reading of measuring component A is β i2 ″, when the resonant inertial navigation system is tilted to α°, the differential reading value Δ between the measurement component B and the measurement component A is i =β i1 ″-β i2 ″, then under the action of gravity moment, the attitude angle error of the resonant inertial navigation system is ζ=(Δ i -Δ0)″, and then, by measuring the differential reading value Δ between measurement component B and measurement component A at a specific angle of the single-axis turntable i With Δ0, we can plot the attitude angle error ζ of the resonant inertial navigation system as the vehicle rolls. i -Δ0)″ changes with the system tilt state α°.

[0071] Step 6: Adjust the azimuth angle of the resonant inertial navigation system relative to the measurement component B, then rotate the resonant inertial navigation system 90° and install it on the single-axis turntable. After adjustment, rotate the single-axis turntable to simulate the vehicle's pitch state. In this state, measure the attitude angle error of the resonant inertial navigation system. Specifically:

[0072] Remove measurement assembly B and rotate it 90°, aligning the measurement axis of measurement assembly B with the normal axis of the bow mirror of the resonant inertial navigation system (the adjustment process is the same as that of installing the optical hexahedron in step 1.3), ensuring that the angular deviation is less than 1". After adjustment, securely mount measurement assembly B to the upper surface of the resonant inertial navigation system platform.

[0073] Set the single-axis turntable angle to 0, rotate the resonant inertial navigation system platform and measurement assembly B 90°, and adjust the measurement axis of measurement assembly B to be parallel to the normal axis of the turntable bow mirror, ensuring that the azimuth angle deviation is less than 1" (the adjustment process is the same as the process of installing the optical hexahedron in step 1.3). After the adjustment is completed, fix the resonant inertial navigation system platform and measurement assembly B assembly to the turntable plane.

[0074] Repeat step 5 and set the single-axis turntable angle to δ°. You can then plot a curve showing how the resonant inertial navigation system attitude angle error γ″ changes with the system tilt state δ° when the vehicle pitches.

[0075] The differential reading values of the measuring component B and the measuring component A in the above steps 5 and 6 are read out by the differential reading device 15 installed on the single-axis turntable.

[0076] Step 7: Form the attitude angle error compensation

[0077] The attitude angle error compensation is formed by α, ζ, δ, and γ, and the attitude angle of the resonant inertial navigation system is accurately compensated. This can effectively eliminate the interference of the attitude angle change on the navigation accuracy of the resonant inertial navigation system, thereby improving the navigation accuracy of the resonant inertial navigation system.

[0078] The present invention designs a high-precision measurement method for the attitude angle error of an inertial navigation system under an inclined state of a vehicle. By using a turntable, a high-precision electronic level, an autocollimation theodolite and an optical hexahedron, etc., and utilizing an optical alignment method, the deformation of the attitude angle of the resonant inertial navigation system under different inclined states is measured with high precision, and an attitude angle error compensation value is formed, thereby ensuring the navigation accuracy of the resonant inertial navigation system.

[0079] This technology is not limited to the high-precision measurement of the attitude angle error of the inertial navigation system when the vehicle is tilted, but can also be extended to other strapdown inertial navigation systems. It has good engineering application prospects for improving the navigation accuracy of the strapdown inertial navigation system.

[0080] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will understand that various replacements, changes and modifications are possible without departing from the spirit of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A method for high-precision measurement of the attitude angle error of an inertial navigation system when a vehicle is tilted, characterized by: This is achieved by adjusting the measuring components A and B into position. Both measuring components consist of a high-precision electronic level and an optical hexahedron fixed at their upper ends. The following steps are included: Step 1: Assemble and adjust two sets of measuring components in sequence so that the measuring axis of the high-precision electronic level in each set of measuring components is consistent with the normal axis of the optical regular hexahedron; Step 2: Align the measurement component B with the resonant inertial navigation system platform and assemble them so that the measurement axis of the measurement component B is perpendicular to the normal axis of the bow mirror of the resonant inertial navigation system; Step 3: Install the measuring assembly A on the single-axis turntable so that the measuring axis of the measuring assembly A is parallel to the azimuth normal of the bow mirror of the single-axis turntable; Step 4: Install the assembled measurement component B and the resonant inertial navigation system platform onto the single-axis turntable, so that the measurement axis of the measurement component B is parallel to the azimuth normal of the bow mirror of the single-axis turntable; Step 5: Rotate the single-axis turntable to simulate the rolling state of the vehicle, and measure the attitude angle error of the resonant inertial navigation system in this state; Step 6: Adjust the azimuth angle of the resonant inertial navigation system relative to the measurement component B, then rotate the resonant inertial navigation system 90° and install it on the single-axis turntable. After adjustment, rotate the single-axis turntable to simulate the vehicle's pitch state. In this state, measure the attitude angle error of the resonant inertial navigation system. Step 7: The attitude angle error compensation amount is formed by the rotation angle of the single-axis turntable in step 5 and the corresponding attitude angle error of the resonant inertial navigation system at the rotation angle, and the rotation angle of the single-axis turntable in step 6 and the corresponding attitude angle error of the resonant inertial navigation system at the rotation angle, so as to accurately compensate the attitude angle of the resonant inertial navigation system.

2. The method for high-precision measurement of the attitude angle error of an inertial navigation system when a vehicle is tilted according to claim 1, characterized in that: The auxiliary devices used in step 1 include: a high-precision dual-axis turntable and two theodolites; step 1 includes the following steps: 1.

1. Leveling high-precision dual-axis turntable Set the angles of the inner and outer frames of the dual-axis turntable to 0°, place a high-precision electronic level on the inner frame surface, and adjust the jack supporting the dual-axis turntable so that the high-precision electronic level reading is less than 1", ensuring that the inner frame surface is parallel to the horizontal plane; 1.

2. Align the measuring axis of the high-precision electronic level with the outer frame axis of the high-precision dual-axis turntable 1) First rotate the inner frame of the dual-axis turntable to initially align the measurement axis of the high-precision electronic level with the axis of the dual-axis turntable outer frame; 2) Then rotate the outer frame of the dual-axis turntable 15° clockwise, and after it stops, slightly rotate the inner frame of the dual-axis turntable until the reading on the high-precision electronic level is less than 1". Rotate the outer frame of the dual-axis turntable 15° clockwise again, and after it stops, slightly rotate the inner frame of the dual-axis turntable until the reading on the high-precision electronic level is less than 1". Then secure the high-precision electronic level. 3) Then rotate the outer frame of the dual-axis turntable to any angle within the range of -30° to 30° and re-measure to see if the reading of the high-precision electronic level is less than 1". If the reading of the high-precision electronic level is always less than 1" at any angle, confirm that the measuring axis of the high-precision electronic level is aligned with the axis of the outer frame. 1.

3. Use the method of mutual aiming of two theodolites to install the optical hexahedron on the fixed high-precision electronic level 1) Based on step 1.2, first set the outer frame of the high-precision dual-axis turntable to 0; 2) Set up the autocollimation theodolite A along the measuring axis of the high-precision electronic level, align the autocollimation theodolite A with the outer frame axis head mirror, and set the azimuth reading of the autocollimation theodolite A to 0°; 3) Set up autocollimation theodolite B in a direction perpendicular to the measurement axis of the high-precision electronic level. Specifically, rotate autocollimation theodolites A and B separately, aiming them at each other, and record the azimuth reading of theodolite A at this time as α; set the azimuth reading of autocollimation theodolite B to (180+α)°, rotate autocollimation theodolite B until its azimuth reading is 270°, and then fix theodolite B in place. 4) Adjust the position and orientation of the optical hexahedron on the surface of the high-precision electronic level until the autocollimation theodolite B forms an image and the angle deviation is adjusted to less than 1". Finally, fix the optical hexahedron to the upper surface of the high-precision electronic level to complete the installation of the optical hexahedron.

3. The high-precision measurement method for the attitude angle error of an inertial navigation system when a vehicle is tilted according to claim 2, characterized in that: The method for perpendicularly adjusting the measuring axis of measuring component B and the normal axis of the bow mirror of the resonant inertial navigation system in step 2, the method for parallelizing the measuring axis of measuring component A and the azimuth normal of the bow mirror of the single-axis turntable in step 3, and the method for parallelizing the measuring axis of measuring component B and the azimuth normal of the bow mirror of the single-axis turntable in step 4 all adopt the installation method of the optical regular hexahedron in step 1.

4. The method for high-precision measurement of the attitude angle error of an inertial navigation system when a vehicle is tilted according to claim 1, characterized in that: Step 5 includes the following steps: 5.

1. Set the single-axis turntable angle to 0°, read the reading of measuring component B as β1″ and the reading of measuring component A as β2″, then the initial differential reading value Δ0 of measuring component B and measuring component A is β1″-β2″; 5.

2. Rotate the single-axis turntable by α°. When it comes to rest, the reading of measurement component B is β. i1 ″, the reading of measuring component A is β i2 ″, when the resonant inertial navigation system is tilted to α°, the differential reading value Δ between the measurement component B and the measurement component A is i =β i1 ″-β i2 ″, then under the action of gravity moment, the attitude angle error of the resonant inertial navigation system is ζ=(Δ i -Δ0); 5.

3. By measuring the differential reading value Δ between measurement component B and measurement component A at a specific angle of the single-axis turntable i and Δ0, the attitude angle error ζ of the resonant inertial navigation system when the vehicle rolls is plotted as Δ i -Δ0)″ changes with the system tilt state α°.

5. The method for high-precision measurement of the attitude angle error of an inertial navigation system when a vehicle is tilted according to claim 1, characterized in that: Step 6 includes the following steps: 6.

1. Remove measurement assembly B and rotate it 90° to align the measurement axis of measurement assembly B with the normal axis of the bow mirror of the resonant inertial navigation system, ensuring that the angular deviation is less than 1". After adjustment, securely install measurement assembly B on the upper surface of the resonant inertial navigation system platform. 6.

2. Set the single-axis turntable angle to 0, rotate the resonant inertial navigation system platform and measurement assembly B 90°, and adjust the measurement axis of measurement assembly B to be parallel to the normal axis of the turntable bow mirror, ensuring that the azimuth angle deviation is less than 1". After adjustment, secure the resonant inertial navigation system platform and measurement assembly B assembly to the turntable plane. 6.

3. Repeat step 5, setting the single-axis turntable angle to δ°, and plot the curve of the resonant inertial navigation system attitude deflection angle γ as the system tilt state δ° changes when the vehicle pitches.

Images