Rotary table angle measuring device and method based on gyro goniometer

Abstract

The invention discloses a rotary table angle measuring device based on a gyro goniometer, which comprises a rotary table calibrating instrument and a display device, and is characterized in that the rotary table calibrating instrument is composed of an optical mechanism, a jitter offset frequency mechanism and a data acquisition control module. The optical mechanism adopts a mechanically dithered gyroscope; the dithering offset frequency mechanism drives the mechanically dithered gyroscope body to generate alternating simple harmonic motion; the data acquisition control module realizes control of optical cavity length and a jitter offset frequency mechanism and completes data acquisition and processing, including acquisition and storage of angle errors and angle compensation coefficients and self-calibration calculation of angle measurement results, the angle errors include angle errors caused by earth rotation, mechanically dithered gyroscope null drift and scale factors, and the angle errors include angle errors caused by earth rotation, mechanically dithered gyroscope null drift and scale factors. And the angle compensation coefficient is angle error compensation of 360-degree self-rotation of the rotary table calibrating instrument. The rotary table angle measuring device is convenient to operate, suitable for rotary table angle measurement and high in measuring precision.

Description

Technical Field

[0001] The invention relates to the technical field of automated testing equipment, and in particular to a turntable calibration device. Background Art

[0002] At present, the automated test equipment in various ground support systems needs to be measured every year. The current measurement mode of the target simulator turntable, program-controlled turntable, three-axis turntable and other equipment in the automated test equipment in various ground support systems can no longer meet the existing measurement needs, and there are problems such as low situation controllability, many temporary tasks, and poor measurement timeliness. It is urgent to develop a ground support system turntable rapid calibration device to achieve miniaturized, real-time, rapid and automated angular position calibration.

[0003] At present, the angular position calibration method of the rate position turntable and the swing table mainly adopts the method of prism plus light tube. However, this method has complicated operation steps and low efficiency, and cannot meet the needs of rapid angular position calibration of a large number of inertial navigation test equipment. At the same time, for some inertial navigation test equipment with low precision, the current angular position calibration method is costly. In particular, the robot joint arm can rotate multiple arms at the same time. The detection method of prism plus light tube lacks the corresponding installation rotary axis, and it is difficult to install the prism. CNC machine tools adopt the working characteristics of multi-axis and multi-piece simultaneous processing. During the angle calibration process, the rotary axis is blocked and calibration cannot be performed. It can be seen that the existing multi-axis rotary equipment cannot be calibrated because there is no installation interface or optical occlusion, so the existing angular position calibration method can no longer meet the existing angular position calibration needs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a turntable angle measuring device and method which is easy to operate and has high measuring accuracy.

[0005] In order to solve the above technical problems, the present invention provides a turntable angle measuring device based on a gyro goniometer, and the technical solution is as follows:

[0006] The turntable angle measuring device includes a turntable calibrator and a display device, wherein the turntable calibrator is composed of an optical mechanism, a jitter frequency deviation mechanism, and a data acquisition control module;

[0007] The optical mechanism adopts a machine-shake gyro; the jitter frequency deviation mechanism drives the machine-shake gyro body to produce alternating simple harmonic motion; the data acquisition control module realizes the control of the optical cavity length and the jitter frequency deviation mechanism, and completes data acquisition and processing, including the collection and storage of angle errors and angle compensation coefficients and the self-calibration calculation of angle measurement results. The angle errors include the angle errors caused by the rotation of the earth, the zero drift of the machine-shake gyro and the scale factor. The angle compensation coefficient is the angle error compensation for the turntable calibrator's 360° rotation.

[0008] Furthermore, the optical mechanism includes a quartz crystal, a piezoelectric ceramic, a spherical mirror, a plane mirror, a single photodetector, a double photodetector, and a light-combining prism. The quartz crystal and the anode and cathode together form a microcrystalline resonant cavity. The microcrystalline resonant cavity is processed into a quadrilateral. The microcrystalline resonant cavity is filled with a HeNe mixed gas. The anode and cathode are connected in a common cathode mode to excite the mixed gas to generate plasma gas to form a laser beam. A spherical mirror is used as a total reflector of the light beam in the microcrystalline resonant cavity and is installed on both sides of the upper end. In the microcrystalline resonant cavity, a plane mirror is used as an output mirror and a reflector, and is connected to the single The photodetector is installed at the lower left end. A single photodetector is used to monitor the intensity of the light signal in the optical path, and control the movement of the two piezoelectric ceramics connected to the two spherical mirrors to keep the cavity length of the microcrystal resonant cavity constant; the light-combining prism is installed at the lower right end with the dual photodetectors. The light-combining prism combines the clockwise light wave CW and the counterclockwise light wave CCW in the cavity into the same direction with an angle of only the angular component, and through the semi-reflective and semi-transparent membrane, the intensities of the two light waves are basically equal when they are combined, forming interference fringes; the dual photodetectors detect the interference fringes to obtain the angular position calibration signal output.

[0009] Furthermore, during the process of laser generation and propagation, a getter is added to one side of the microcrystal resonant cavity to neutralize the exhaust gas in the cavity and maintain a stable gas pressure in the cavity.

[0010] Furthermore, the jitter frequency deviation mechanism is a piezoelectrically driven jitter mechanism, which adopts a square wave driving method. The jitter frequency deviation mechanism includes a jitter spring, a jitter controller, and a jitter feedback sensor. The jitter spring is respectively fixed to the laser gyroscope body and the piezoelectric ceramic by gluing. The jitter sensor detects the jitter. When the jitter angle passes through zero, the jitter controller is triggered, and a three-state square wave is output through a power amplifier circuit, driving the piezoelectric ceramic to deform and drive the jitter spring, thereby driving the laser gyroscope body to produce an alternating frequency deviation, and converting the lock area of ​​the laser gyroscope into a dynamic lock area.

[0011] Furthermore, the method for calibrating the angle error is: after the turntable calibrator is turned on, the turntable calibrator is kept stationary, and the angular position is collected several times per second within a certain period of time. Finally, the average value of the collected angular positions is taken as the error value caused by the rotation of the earth, the machine shake gyro zero drift and the scale factor, and the error value is automatically stored. When entering the angular position measurement subsequently, the error value will be deducted from each angular position measurement value.

[0012] Furthermore, the display device and the turntable calibrator are separated and a Bluetooth wireless transmission module is used for data transmission, thereby completing the real-time observation of relevant parameters of the turntable calibrator, automatic data processing, and automatic record preservation functions.

[0013] Preferably, the turntable calibrator adopts a whole-machine wrapped design, reduces detachable structures, and is sprayed with anti-noise paint.

[0014] According to another aspect of the present invention, a turntable angle measurement method based on a gyro goniometer is provided, and the technical solution adopted is as follows:

[0015] Before measuring the turntable angular position, the angle measuring device first measures the angle compensation coefficient to calibrate the accuracy of the turntable calibrator's own angle within 360°. The specific operation steps are as follows:

[0016] 1. Before calibration, fix the turntable calibrator on the digital dividing head with a peak-to-peak value of 1″ according to the use conditions;

[0017] 2. Turn on the turntable calibrator and calibrate the angle error. During the calibration, keep the turntable calibrator and the digital dividing head still until the calibration prompt time ends, and record and store the angle error;

[0018] 3. Adjust the digital dividing head to the 0 position and reset to zero;

[0019] 4. Clear the angle of the turntable calibrator;

[0020] 5. Rotate the digital dividing head clockwise or counterclockwise to 360°, and observe and record the reading a1 of the turntable calibrator;

[0021] 6. Calculate the angle compensation coefficient of the turntable calibrator, the angle compensation coefficient m = 360° / a1, and record and store the angle compensation coefficient;

[0022] After the turntable calibrator completes the angle coefficient compensation in both the clockwise and counterclockwise directions, the turntable calibrator angle is reset to zero, the turntable angle position is measured, and finally the angle measurement value after self-calibration of the angle error and the angle compensation coefficient is output.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention is a turntable angle measuring device based on a gyro goniometer, which is easy to operate and suitable for angle measurement of various turntables. A machine-shaking gyro is adopted, and a shaking frequency deviation mechanism is added to reduce the locking area and improve the accuracy of the angle measuring device. The turntable calibrator adopts a whole-machine wrapping design to reduce the detachable structure, and special anti-noise paint spraying and other methods are used to enhance the sealing of the overall goniometer and reduce the noise of the angle measuring device. Through the angle error calibration and coefficient compensation functions, the influence caused by factors such as the rotation of the earth is reduced, and the measurement accuracy of the angle measuring device is improved. While the present invention performs high-precision full-cycle dynamic measurement, the entire process can also be automated, which is convenient for system control and data collection and analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A schematic diagram of the structure principle of an optical mechanism provided according to a specific embodiment of the present invention is shown;

[0027] Figure 2 A schematic diagram of an optical mechanism acquisition control module provided according to a specific embodiment of the present invention is shown;

[0028] Figure 3 A schematic diagram of a display device interface design provided according to a specific embodiment of the present invention is shown;

[0029] Figure 4 A schematic diagram after deducting an error value provided according to a specific embodiment of the present invention is shown;

[0030] Figure 5 A schematic diagram showing a comparison of angle measurement errors of an angle measurement device and a prism and a light pipe provided according to a specific embodiment of the present invention is shown.

[0031] Among them, there are quartz crystal 1, piezoelectric ceramics 2, spherical mirror 3, plane mirror 4, single photodetector 5, double photodetector 6, light-combining prism 7, cathode 8, anode 9, getter 10, laser beam 11, and HeNe mixed gas 12. DETAILED DESCRIPTION

[0032] 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 by no means 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 creative work are within the scope of protection of the present invention.

[0033] A turntable angle measuring device based on a gyro goniometer provided as an embodiment of the present invention comprises a turntable calibrator and a display device, wherein the turntable calibrator comprises an optical mechanism, a jitter frequency deviation mechanism, and an acquisition control module.

[0034] The optical mechanism adopts a machine-shake gyro; the jitter frequency deviation mechanism drives the machine-shake gyro body to produce alternating simple harmonic motion; the data acquisition control module realizes the control of the optical cavity length and the jitter frequency deviation mechanism, and completes data acquisition and processing, including the collection and storage of angle errors and angle compensation coefficients and the self-calibration calculation of angle measurement results. The angle errors include the angle errors caused by the rotation of the earth, the zero drift of the machine-shake gyro and the scale factor. The angle compensation coefficient is the angle error compensation for the turntable calibrator's 360° rotation.

[0035] The optical mechanism uses a mechanical shaking gyro, and the schematic diagram of the structural principle is as follows Figure 1 As shown, the optical mechanism includes a quartz crystal 1, a piezoelectric ceramic 2, a spherical mirror 3, a plane mirror 4, a single photodetector 5, a double photodetector 6, and a light-combining prism 7.

[0036] The optical resonant cavity is a microcrystalline resonant cavity composed of a quartz crystal 1 and an anode and cathode. The microcrystalline resonant cavity is processed into a quadrilateral and is filled with a HeNe mixed gas 12. The anode and cathode are connected in a common cathode mode to excite the mixed gas, generate plasma gas, and form a laser beam 11. To ensure the normal propagation of the light beam in the cavity, two spherical mirrors 3, two piezoelectric ceramics 2, a plane mirror 4, a single photodetector 5, a light-combining prism 7, and a dual photodetector 6 are installed at four positions of the resonant cavity through molecular forces. Since the gain of the laser is relatively low, a spherical mirror 3 is used in the cavity as a total reflector of the light beam, with a reflectivity close to 100%, which has a convergence effect on the reflected light. Figure 1 In the microcrystal resonant cavity, the plane mirror 4 is used as an output mirror and a reflector, and is installed with a single photodetector 5. Figure 1 The lower left end has two functions. On the one hand, it can reflect the laser beam 11, and on the other hand, it can transmit the light intensity to the single photodetector 5. The single photodetector 5 is used to monitor the light intensity signal intensity in the optical path and control the movement of the two piezoelectric ceramics 2 connected to the two spherical mirrors 3, so that the cavity length of the microcrystal resonant cavity remains constant, and its transmittance is about 1% to 2%. The light-combining prism 7 is installed with the dual photodetector 6. Figure 1 At the lower right end, the light combining prism 7 combines the clockwise light wave CW and the counterclockwise light wave CCW in the cavity into the same direction with an angle of only the angular component, and through an appropriate semi-reflective and semi-transparent membrane, the intensity of the two light waves is basically equal when they are combined, forming interference fringes. The dual photodetector 6 is composed of two single photodetectors 5 with a phase difference of λ / 4. The dual photodetector 6 receives the light signal and detects the interference fringes to obtain the angular position calibration signal output. In the process of laser generation and propagation, the exhaust gas or other gases generated will be avoided from affecting the optical path. A getter 10 needs to be added to one side of the microcrystal resonant cavity. Its main component is Br and other gases. Its function is to neutralize the exhaust gas in the cavity, keep the air pressure in the cavity stable, and control the cavity length.

[0037] like Figure 2 As shown, the forward channel of the data acquisition control module collects the analog quantity output by the photoelectric conversion of the ring microcrystal resonant cavity through the data acquisition part, and then sends it to the FPGA through A / D conversion. After FPGA operation processing, the operation result is converted into analog control quantity through the backward channel D / A digital-to-analog conversion, including light intensity control voltage, sinusoidal signal and cavity length control voltage, forming a closed-loop control of the high-frequency oscillator, piezoelectric ceramics and heater.

[0038] The data communication part realizes the data communication between the host computer and the MCU and completes the MCU reading and writing FPGA internal data through the MCU and FPGA interface circuit design.

[0039] A high-frequency voltage or a DC high voltage is applied to the cathode 8 and the anode 9 to excite the laser. When the laser gain exceeds the loss, laser resonance will occur. During operation, the piezoelectric ceramic 2 is used to control the length of the resonant cavity through light intensity feedback, so that the working point of the calibration device is stabilized at the maximum light intensity, and the stable frequency modulation of the diagonal position calibration device is realized. In the ring-shaped microcrystal resonant cavity, the cathode 8 and the two anodes 9 form a quadrilateral structure, so that it can generate laser beams 11 propagating in opposite directions. One of them is in the clockwise direction and the other is in the counterclockwise direction. Their wavelengths are determined by the oscillation conditions. When the microcrystal resonant cavity resonates, the circumference L of the microcrystal resonant cavity is an integer multiple of the resonant wavelength. When the ring-shaped microcrystal resonant cavity rotates at a certain angular velocity, the frequency difference between the two resonant laser beams 11 propagating in opposite directions is proportional to the rotation angular velocity. Therefore, as long as the frequency difference F of the reverse traveling wave can be measured, the rotation angular velocity of the microcrystal resonant cavity can be determined. For this purpose, the reverse traveling wave is led out of the cavity by a light combining prism 7, beam combining interference is generated through the light combining prism 7, and then projected to the dual photodetector 6, the optical signal containing information is converted into an electrical signal, and finally the angular position to be measured is obtained through the signal processing system.

[0040] The jitter frequency deviation mechanism is a piezoelectric driven jitter mechanism. It adopts a square wave drive mode, and its circuit scale is relatively small. The jitter frequency deviation mechanism includes a jitter spring, a jitter controller, and a jitter feedback sensor. The jitter spring is respectively fixed to the laser gyro body and the piezoelectric ceramic 2 by gluing. The jitter sensor detects the jitter, and at the moment when the jitter angle passes through zero, the jitter controller is triggered, and a three-state square wave is output through the power amplifier circuit, driving the piezoelectric ceramic 2 to deform and drive the jitter spring, thereby driving the laser gyro body to produce an alternating frequency deviation, and converting the lock area of ​​the laser gyro into a dynamic lock area.

[0041] The self-calibration device includes angle coefficient compensation and angle error calibration.

[0042] In the actual measurement process, when the turntable calibrator is fixed on the turntable to be tested and is stationary, the angular position of the turntable calibrator still changes, and as time goes by, the change in the angular position becomes larger and larger.

[0043] The main reasons for the increasing change in angle over time include: the laser gyro's zero bias, the nonlinear error of the scale factor and the rotation of the earth.

[0044] The error caused by the nonlinearity of the laser gyro's zero bias and scale factor is mainly determined by the characteristics of the gyro itself. In order to improve the accuracy, the turntable calibrator is designed for self-calibration optimization. The self-calibration function is mainly used to calibrate the angle error caused by the earth's rotation, zero drift and scale factor.

[0045] The method of angular error calibration is that after the turntable calibrator is turned on, the turntable calibrator is kept stationary and the angular position is collected twice per second within 150 seconds. Finally, the average value of the angular position collected within 150 seconds is taken as the error value introduced by zero bias, the rotation speed of the earth and nonlinear error. The software automatically stores the error value. When entering the angular position measurement later, the error value will be deducted for each angular position to improve the measurement accuracy. Figure 4 is a schematic diagram after deducting the error value. Figure 3 It can be seen that within 10 minutes, the maximum value of the angular position error offset is 0.72″, which is maintained within 1″, reducing the angular position measurement error caused by external factors.

[0046] Angle coefficient compensation is used to correct the angle error within 360° of the turntable calibrator itself. Angle coefficient compensation only needs to be set when the turntable calibrator is used for the first time or when the calibrator is debugged.

[0047] The display device and the turntable calibrator are separated and use a Bluetooth wireless transmission module for data transmission to complete the real-time observation and display of relevant parameters of the turntable calibrator. Figure 3 As shown, the turntable calibration steps are greatly simplified and automation is improved.

[0048] Due to the addition of the jitter frequency deviation mechanism, the angle measuring device will generate relatively large noise when measuring the angular position. In the embodiment of the present invention, the turntable calibrator adopts a whole-machine wrapped design, reduces the detachable structure, and adopts special anti-noise paint spraying and other methods to enhance the sealing of the overall goniometer and reduce the noise of the angle measuring device.

[0049] Based on the above turntable angle measuring device, according to another aspect of the present invention, a turntable angle measuring method based on a gyro goniometer is provided, which is specifically:

[0050] Before measuring the turntable angular position, the angle measuring device first measures the angle compensation coefficient to calibrate the accuracy of the turntable calibrator's own angle within 360°. The specific operation steps are as follows:

[0051] 1. Before calibration, fix the turntable calibrator on the digital dividing head with a peak-to-peak value of 1″ according to the use conditions;

[0052] 2. Turn on the turntable calibrator and connect to Bluetooth;

[0053] 3. Calibrate the angle error of the turntable calibrator and calibrate the ground speed of the turntable calibrator. During this period, keep the turntable calibrator and the digital dividing head still until the self-calibration prompt time ends, and record and store the angle error.

[0054] 4. Adjust the digital dividing head to the 0 position and reset to zero;

[0055] 5. Select the rotation direction of the turntable calibrator (clockwise as an example) and reset the angle of the turntable calibrator;

[0056] 6. Turn the digital dividing head to 360°, observe and record the reading a1 of the turntable calibrator;

[0057] 7. Calculate the compensation coefficient of the turntable calibrator, the compensation coefficient m = 360° / a1, record and store the angle compensation coefficient, and complete the coefficient compensation in the clockwise direction;

[0058] 8. The counterclockwise direction coefficient compensation steps are the same as steps (5) to (7) to complete the counterclockwise direction coefficient compensation.

[0059] After completing the angle coefficient compensation, the turntable calibrator angle is reset to zero, and the turntable angular position measurement can be performed. Finally, the angle measurement value after self-calibration of the angle error and angle compensation coefficient is output.

[0060] The present invention places the angle measuring device, the prism and the light pipe on the turntable respectively, and compares the data of the two after measuring the angular position of the turntable. Figure 5 As shown, curve 10 is the error value of the turntable detected by the photoelectric autocollimator, and curves 1 to 9 are the error values ​​of the turntable detected by the angle measuring device. By comparison, it can be obtained that the maximum error between the angle measuring device and the light pipe and the prism does not exceed 5". The above self-calibration and coefficient compensation functions can improve the accuracy of the angle measuring device.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A turntable angle measuring device based on a gyro goniometer, characterized in that: It includes a turntable calibrator and a display device, wherein the turntable calibrator is composed of an optical mechanism, a jitter frequency deviation mechanism, and a data acquisition control module; The optical mechanism adopts a machine-shake gyro; the jitter frequency deviation mechanism drives the machine-shake gyro body to produce alternating simple harmonic motion; the data acquisition control module realizes the control of the optical cavity length and the jitter frequency deviation mechanism, and completes data acquisition and processing, including the collection and storage of angle errors and angle compensation coefficients and the self-calibration calculation of angle measurement results. The angle errors include the angle errors caused by the rotation of the earth, the zero drift of the machine-shake gyro and the scale factor. The angle compensation coefficient is the angle error compensation for the turntable calibrator's 360° rotation.

2. A turntable angle measuring device based on a gyro goniometer according to claim 1, characterized in that: The optical mechanism includes a quartz crystal, a piezoelectric ceramic, a spherical mirror, a plane mirror, a single photodetector, a dual photodetector, and a light-combining prism. A microcrystal resonant cavity is formed by a quartz crystal and an anode and cathode. The microcrystal resonant cavity is processed into a quadrilateral. The microcrystal resonant cavity is filled with a HeNe mixed gas. The anode and cathode are connected in a common cathode mode to excite the mixed gas, generate plasma gas, and form a laser beam. A spherical mirror is used as a total reflection mirror of the light beam in the microcrystal resonant cavity and is installed on both sides of the upper end. In the microcrystal resonant cavity, a plane mirror is used as an output mirror and a reflection mirror, and is installed at the lower left end with a single photodetector. A light-combining prism is installed at the lower right end in conjunction with a dual photodetector. The light-combining prism combines the clockwise light wave CW and the counterclockwise light wave CCW in the cavity into the same direction with an angle of only the angular component, and the semi-reflective and semi-transparent membrane is used to make the intensities of the two light waves substantially equal when they are combined to form interference fringes. The dual photodetectors detect the interference fringes to obtain an angular position calibration signal output.

3. The turntable angle measuring device based on a gyro goniometer according to claim 2, characterized in that: During the process of laser generation and propagation, a getter is added to one side of the microcrystal resonant cavity to neutralize the exhaust gas in the cavity and keep the gas pressure in the cavity stable.

4. A turntable angle measuring device based on a gyro goniometer according to claim 1, 2 or 3, characterized in that: The jitter frequency deviation mechanism is a piezoelectric driven jitter mechanism, which adopts a square wave driving method. The jitter frequency deviation mechanism includes a jitter spring, a jitter controller, and a jitter feedback sensor. The jitter spring is respectively fixed to the laser gyroscope body and the piezoelectric ceramic by gluing. The jitter sensor detects the jitter. When the jitter angle passes through zero, the jitter controller is triggered, and a three-state square wave is output through a power amplifier circuit, which drives the piezoelectric ceramic to deform and drive the jitter spring, thereby driving the laser gyroscope body to produce an alternating frequency deviation, and converting the locking area of ​​the laser gyroscope into a dynamic locking area.

5. The turntable angle measuring device based on a gyro goniometer according to claim 1, characterized in that: The method of angular error calibration is: after the turntable calibrator is turned on, keep the turntable calibrator stationary, collect angular positions several times per second within a certain period of time, and finally take the average value of the collected angular positions as the error value caused by the earth's rotation, machine jitter, gyro zero drift and scale factor, and automatically store the error value. When entering the angular position measurement later, the error value will be deducted from each angular position measurement value.

6. The turntable angle measuring device based on a gyro goniometer according to claim 1, characterized in that: The turntable calibrator adopts a whole-machine wrapped design, reduces detachable structures, and is sprayed with anti-noise paint.

7. An angle measurement method based on the turntable angle measurement device of the gyro goniometer according to any one of claims 1 to 6, characterized in that: Before measuring the turntable angular position, the angle measuring device first measures the angle compensation coefficient to calibrate the accuracy of the turntable calibrator's own angle within 360°. The specific operation steps are as follows: 1) Before calibration, fix the turntable calibrator on the digital dividing head with a peak-to-peak value of 1″ according to the use conditions; 2) Turn on the turntable calibrator and calibrate the angle error. During the calibration, keep the turntable calibrator and the digital dividing head still until the calibration prompt time ends, and record and store the angle error; 3) Adjust the digital dividing head to the 0 position and reset to zero; 4) Clear the angle of the turntable calibrator; 5) Rotate the digital dividing head clockwise or counterclockwise to 360°, and observe and record the reading a1 of the turntable calibrator; 6) Calculate the angle compensation coefficient of the turntable calibrator, the angle compensation coefficient m = 360° / a1, and record and store the angle compensation coefficient; After the turntable calibrator completes the measurement of the angle compensation coefficients in the clockwise and counterclockwise directions, the turntable calibrator angle is reset to zero, and the turntable angular position is measured, and finally the angle measurement value after self-calibration of the angle error and the angle compensation coefficient is output.

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