Calibration system and calibration method for azimuth reference prism of inertial navigation equipment

Abstract

According to the inertial navigation equipment azimuth reference prism calibration system and calibration method provided by the invention, directional measurement is carried out in a laboratory through a gyro theodolite, and the integrity and correctness of a light path of a prism device are ensured. High-precision azimuth reference prisms are mounted inside and outside a cabin needing to be calibrated respectively, light paths of the prism devices are led out of the cabin from the interior of the cabin by adjusting the postures of the azimuth reference prism devices, and the alignment precision of the azimuth reference of inertial navigation equipment is guaranteed. By applying the method, the problem that one product and one calibration shaft are transmitted by the inertial navigation equipment azimuth reference in a mooring state can be solved, the method can be applied to various water surface and underwater products, the azimuth reference attitude adjustment technology is accurate and rapid, the labor cost is saved, the time cost is also saved, the measurement precision is further ensured, and the measurement precision is improved. Powerful technical guarantee is provided for unit production.

Description

Technical Field

[0001] The present invention relates to the field of ship measurement technology, and more specifically, to an inertial navigation equipment azimuth reference prism calibration system and a calibration method. Background Art

[0002] The calibration axis azimuth transfer method currently used for dynamic alignment of the navigation system during the mooring phase is very difficult to install and debug, and the entire alignment process takes too long, which can easily cause unstable alignment accuracy and affect the heading accuracy of the navigation system. In addition, for calibration, it is necessary to rent a large truck to transport the calibration axis, which is time-consuming and labor-intensive. With the development of optical technology and precision manufacturing and processing technology, the calibration of the navigation system requires higher-precision devices and more convenient and quicker methods. Therefore, it is necessary to develop a prism calibration device for the heading accuracy of inertial navigation equipment to ensure the accuracy of the navigation system of military ships.

[0003] Patent document CN117782156A discloses a ship bow and stern line azimuth reference calibration system, including a calibration axis, an inboard deck theodolite and an outboard deck theodolite, wherein the inboard deck theodolite is installed in the cabin, and the outboard deck theodolite is installed outside the cabin, and the calibration axis is respectively provided with an upper reference mirror and a lower reference mirror at both ends, wherein the outboard deck theodolite is arranged relative to the upper reference mirror, and the outboard deck theodolite is arranged relative to the lower reference mirror. The calibration is mainly performed through the calibration axis, but the fixed calibration axis method adopted has a complicated operation process, is inconvenient to install on the boat, and cannot be applied to all products. The current situation that one calibration axis must be used for each product, therefore, it is necessary to develop a new mooring azimuth reference calibration device, and use new alignment technology and precision tooling technology to solve the azimuth alignment problem of the navigation system in the moored state. Summary of the invention

[0004] The technical solution of this patent can solve the azimuth precision alignment of the product's inertial navigation device in the moored state, ensuring the accuracy of the inertial navigation device.

[0005] To achieve the above effects, the present invention provides, on one hand, an inertial navigation device azimuth reference prism calibration system, comprising:

[0006] The deck theodolite is installed on the reference platform of the inertial navigation unit in the cabin and is used to provide a measurement reference in the cabin;

[0007] An in-cabin prism device is arranged opposite to the in-cabin deck theodolite, and the in-cabin prism device is used to change the direction of the optical path;

[0008] An off-cabin prism device is installed on the off-cabin deck and is arranged opposite to the on-cabin prism, so that an outgoing light path of the on-cabin prism device and an incident light path of the off-cabin prism device are in the same plane;

[0009] The deck theodolite outside the cabin is arranged opposite to the prism device outside the cabin, and is used to receive the light path transmitted from the cabin and obtain the inertial navigation azimuth reference inside the cabin;

[0010] Preferably, based on the above scheme, the system also includes a dock shore gyrotheodolite, which is arranged on the dock shore, and the gyrotheodolite is used for north-finding direction measurement and mutual aiming with the theodolite on the deck outside the cabin.

[0011] Preferably, based on the above scheme, the theodolite is a self-collimating theodolite.

[0012] Preferably, the prism device can make the outgoing light and the incident light form an angle of 90°, and the prism device is calibrated using an autocollimation gyro theodolite before use to ensure that the angle between the incident light and the outgoing light of the prism device is

[0013] Preferably, based on the above scheme, the autocollimation theodolite can be one of an optical autocollimation theodolite, an electronic autocollimation theodolite and a laser autocollimation theodolite.

[0014] The present invention also provides a method for calibrating the azimuth reference of a ship inertial navigation device, comprising the following steps:

[0015] S1, install the prism device inside and outside the ship, connect the prism devices inside and outside the cabin through the prism device optical path, set up the deck theodolite on the cabin reference platform of the inertial navigation device in the cabin, adjust the level, align the inertial navigation device, and set the horizontal dial of the deck theodolite to zero;

[0016] S2, rotate the horizontal dial of the deck theodolite by 90°, align it with the prism device in the cabin, and adjust the posture of the prism device in the cabin according to the autocollimation light reflected from the lens barrel of the deck theodolite, until the crosshairs of the autocollimation light coincide with the crosshairs of the reticle of the deck theodolite;

[0017] S3, set up the deck theodolite on the auxiliary horizontal reference outside the cabin, adjust the level, align the deck theodolite with the azimuth reference mirror on the top of the calibration axis, and adjust the foot screws of the deck theodolite according to the coincidence of the crosshairs of the autocollimation light and the crosshairs of the deck theodolite graticule until the crosshairs of the deck theodolite graticule coincide with the crosshairs of the autocollimation light, and set the deck theodolite horizontal dial to zero;

[0018] S4. After the gyrotheodolite on the dock finds the north direction and measures the north direction, it is aligned with the theodolite on the deck outside the cabin to obtain the readings of the theodolite on the deck outside the cabin and the readings of the gyrotheodolite. The azimuth reading of the inertial navigation device is obtained through the conversion relationship, and the azimuth of the inertial navigation device is calibrated.

[0019] Based on the above scheme, it is preferred that the prism device is aimed at by using a self-collimating gyro theodolite in the laboratory, and the prism posture of the prism device is adjusted by measuring to ensure that the angle between the incident light and the outgoing light of the prism device is Record the difference between the two azimuth reference prisms.

[0020] Furthermore, the conversion relationship is: δ=A-B+C+D; wherein δ represents the heading value of the ship; A represents the gyrotheodolite reading; B represents the theodolite reading on the deck outside the cabin; C represents the additional angle; and D represents the error value of the prism calibration device.

[0021] Beneficial effects of the present invention:

[0022] Before the measurement, the gyrotheodolite is used to perform directional measurement in the laboratory to ensure the integrity and correctness of the optical path of the prism device. At the same time, a high-precision azimuth reference prism is installed inside and outside the cabin to be calibrated. By adjusting the posture of the azimuth reference prism device, the optical path of the prism device is led from inside the cabin to outside the cabin to ensure the alignment accuracy of the azimuth reference of the inertial navigation equipment. The installation of the prism calibration device is more convenient than the traditional method. Only one prism device needs to be installed outside and inside the cabin, and there is no need to use a ship crane for lifting, which saves labor costs. Long-distance tests do not require large trucks for transportation, saving time costs. Compared with the traditional method of one calibration axis for one product, the more products, the more calibration axes are manufactured. The present invention uses a prism device for the first time to perform azimuth calibration of inertial navigation equipment, which can achieve a set of calibration devices for multiple products on the surface and underwater to solve the test needs of inertial navigation azimuth reference transmission, greatly saving the product manufacturing cycle and improving construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0024] Figure 1 It is a schematic diagram of the structure of the laboratory prism device of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the azimuth reference prism calibration system of the inertial navigation equipment of the present invention; DETAILED DESCRIPTION

[0026] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0027] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0028] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0029] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0030] In the embodiments shown in the drawings, the indications of directions (such as up, down, left, right, front and back) used to explain the structure and movement of the various components of the present invention are not absolute but relative. These descriptions are appropriate when these components are in the positions shown in the drawings. If the descriptions of the positions of these components change, the indications of these directions also change accordingly.

[0031] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0033] See also Figure 1 , and combined with Figure 2 As shown, an inertial navigation device azimuth reference prism calibration system of the present invention comprises:

[0034] The deck theodolite is installed on the reference platform of the inertial navigation unit in the cabin and is used to provide a measurement reference in the cabin;

[0035] An in-cabin prism device is arranged opposite to the in-cabin deck theodolite, and the in-cabin prism device is used to change the direction of the optical path;

[0036] An off-cabin prism device is installed on the off-cabin deck and is arranged opposite to the on-cabin prism, so that an outgoing light path of the on-cabin prism device and an incident light path of the off-cabin prism device are in the same plane;

[0037] The deck theodolite outside the cabin is arranged opposite to the prism device outside the cabin, and is used to receive the light path transmitted from the cabin and obtain the inertial navigation azimuth reference inside the cabin;

[0038] The system also includes a dockside gyrotheodolite, which is arranged on the dockside. The gyrotheodolite is used for north-finding and orientation measurement and for mutual aiming with the deck theodolite outside the cabin.

[0039] Wherein, the theodolite is an autocollimation theodolite, and the autocollimation theodolite can be one of an optical autocollimation theodolite, an electronic autocollimation theodolite and a laser autocollimation theodolite.

[0040] Optical autocollimation theodolite: Based on traditional optical principles, it constructs the optical path through precise lenses, prisms and other optical components. It has high measurement accuracy, but the operation is relatively complicated and requires high professional skills of the operator. It is widely used in some traditional measurement scenarios that have strict requirements on stability and accuracy.

[0041] Electronic autocollimation theodolite: It integrates advanced electronic sensors and microprocessor technology, and can convert angle measurements into electrical signals for processing and display. It has the advantages of intuitive and convenient readings, automatic compensation function, etc., which can effectively improve the accuracy and efficiency of measurement, and facilitate data transmission and processing with external devices such as computers.

[0042] Laser autocollimation theodolite: Based on the basic functions of the autocollimation theodolite, a laser emission device is added. The laser beam has the characteristics of strong directionality and high brightness, and can clearly indicate the direction of the light path at long distances and in complex environments. It is particularly suitable for measurement scenarios with poor light or requiring long-distance light path transmission.

[0043] The prism device can make the outgoing light and the incident light form an angle of 90°. The prism device is calibrated using an autocollimation gyro theodolite before use to ensure that the angle between the incident light and the outgoing light of the prism device is

[0044] This solution also provides a method for calibrating the azimuth reference of a ship inertial navigation device, comprising the following steps:

[0045] S1, install the prism device inside and outside the ship, connect the prism devices inside and outside the cabin through the prism device optical path, set up the deck theodolite on the cabin reference platform of the inertial navigation device in the cabin, adjust the level, align the inertial navigation device, and set the horizontal dial of the deck theodolite to zero;

[0046] S2, rotate the horizontal dial of the deck theodolite by 90°, align it with the prism device in the cabin, and adjust the posture of the prism device in the cabin according to the autocollimation light reflected from the lens barrel of the deck theodolite, until the crosshairs of the autocollimation light coincide with the crosshairs of the reticle of the deck theodolite;

[0047] S3, set up the deck theodolite on the auxiliary horizontal reference outside the cabin, adjust the level, align the deck theodolite with the azimuth reference mirror on the top of the calibration axis, and adjust the foot screws of the deck theodolite according to the coincidence of the crosshairs of the autocollimation light and the crosshairs of the deck theodolite graticule until the crosshairs of the deck theodolite graticule coincide with the crosshairs of the autocollimation light, and set the deck theodolite horizontal dial to zero;

[0048] S4. After the gyrotheodolite on the dock finds the north direction and measures the north direction, it is aligned with the theodolite on the deck outside the cabin to obtain the readings of the theodolite on the deck outside the cabin and the readings of the gyrotheodolite. The azimuth reading of the inertial navigation device is obtained through the conversion relationship, and the azimuth of the inertial navigation device is calibrated.

[0049] Based on the above scheme, it is preferred that the prism device is aimed at by using a self-collimating gyro theodolite in the laboratory, and the prism posture of the prism device is adjusted by measuring to ensure that the angle between the incident light and the outgoing light of the prism device is Record the difference between the two azimuth reference prisms.

[0050] Furthermore, the conversion relationship is: δ=A-B+C+D; wherein δ represents the heading value of the ship; A represents the gyrotheodolite reading; B represents the theodolite reading on the deck outside the cabin; C represents the additional angle; and D represents the error value of the prism calibration device.

[0051] Using the above method to calibrate the azimuth reference of ship inertial navigation equipment has the following advantages:

[0052] 1. High-precision optical path guarantee: The patent adopts high-precision azimuth reference prisms inside and outside the cabin combined with theodolite to build a calibration system. The gyro-theodolite directional measurement in the laboratory ensures that the prism optical path is complete and correct, and the outgoing and incident light rays are precisely 90°, which lays a solid foundation for the accuracy of the azimuth reference transmission of the inertial navigation equipment and reduces the source of measurement error, such as maintaining a stable and reliable optical path in a complex electromagnetic environment to ensure the accuracy of the inertial navigation.

[0053] 2. Convenient and efficient installation: Abandoning the traditional complex calibration axis mode, a prism device inside and outside the cabin simplifies the installation process, without the need for large cranes and multiple calibration axis manufacturing. For example, in the narrow space of a ship, operators can quickly install and debug, shortening the calibration of a single device to several hours, reducing labor costs by more than 50%, improving production efficiency, accelerating delivery, and enhancing market competitiveness.

[0054] 3. Universal adaptation of multiple products: The innovative prism calibration is applicable to a variety of surface and underwater products, breaking the limitation of "one product, one calibration axis". One system can meet the azimuth benchmark calibration needs of products of different models and specifications. Enterprises do not need to develop calibration equipment for each product, reducing R&D costs by about 40%, shortening the product design to application cycle by 1 / 3, and accelerating technology iteration and industrial upgrading.

[0055] 4. Reduced economic costs: Long-distance tests do not require large trucks to transport calibration axles, which greatly reduces transportation costs and time. Taking transoceanic tests as an example, a single test can save tens of thousands of yuan in transportation costs and several weeks of transportation time, and reduce the inventory management costs of calibration axles, making the company's capital flow more flexible, investing in core technology research and development and market expansion, and improving comprehensive benefits and innovation vitality.

[0056] Finally, the method of the present application is only a preferred implementation scheme and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An azimuth reference prism calibration system for inertial navigation equipment, characterized in that: include: The deck theodolite is installed on the reference platform of the inertial navigation unit in the cabin and is used to provide a measurement reference in the cabin; An in-cabin prism device is arranged opposite to the in-cabin deck theodolite, and the in-cabin prism device is used to change the direction of the optical path; An off-cabin prism device is installed on the off-cabin deck and is arranged opposite to the on-cabin prism, so that an outgoing light path of the on-cabin prism device and an incident light path of the off-cabin prism device are in the same plane; The deck theodolite outside the cabin is arranged opposite to the prism device outside the cabin and is used to receive the light path transmitted from the cabin and obtain the inertial navigation azimuth reference inside the cabin.

2. The azimuth reference prism calibration system for inertial navigation equipment according to claim 1, characterized in that: The system also includes a dock shore gyrotheodolite, which is arranged on the dock shore. The gyrotheodolite is used for north-finding and orientation measurement and for mutual aiming with the deck theodolite outside the cabin.

3. The azimuth reference prism calibration system for inertial navigation equipment according to claim 1, characterized in that: The theodolite is a self-collimating theodolite.

4. The azimuth reference prism calibration system for inertial navigation equipment according to claim 1, characterized in that: The prism device can make the outgoing light and the incident light form an angle of 90°. The prism device is calibrated using an autocollimation gyro theodolite before use to ensure that the angle between the incident light and the outgoing light of the prism device is 5. The azimuth reference prism calibration system for inertial navigation equipment according to claim 2, characterized in that: The autocollimation theodolite may be one of an optical autocollimation theodolite, an electronic autocollimation theodolite and a laser autocollimation theodolite.

6. A method for calibrating the azimuth reference of a ship inertial navigation device, characterized in that: The steps include: S1, install the prism device inside and outside the ship, connect the prism devices inside and outside the cabin through the prism device optical path, set up the deck theodolite on the cabin reference platform of the inertial navigation device in the cabin, adjust the level, align the inertial navigation device, and set the horizontal dial of the deck theodolite to zero; S2, rotate the horizontal dial of the deck theodolite by 90°, align it with the prism device in the cabin, and adjust the posture of the prism device in the cabin according to the autocollimation light reflected from the lens barrel of the deck theodolite, until the crosshairs of the autocollimation light coincide with the crosshairs of the reticle of the deck theodolite; S3, set up the deck theodolite on the auxiliary horizontal reference outside the cabin, adjust the level, align the deck theodolite with the azimuth reference mirror on the top of the calibration axis, and adjust the foot screws of the deck theodolite according to the coincidence of the crosshairs of the autocollimation light and the crosshairs of the deck theodolite graticule until the crosshairs of the deck theodolite graticule coincide with the crosshairs of the autocollimation light, and set the deck theodolite horizontal dial to zero; S4. After the gyrotheodolite on the dock finds the north direction and measures the north direction, it is aligned with the theodolite on the deck outside the cabin to obtain the readings of the theodolite on the deck outside the cabin and the readings of the gyrotheodolite. The azimuth reading of the inertial navigation device is obtained through the conversion relationship, and the azimuth of the inertial navigation device is calibrated.

7. The method according to claim 6, characterized in that Before step S1, the method further includes using a self-collimating gyro theodolite to aim the prism device in the laboratory, and adjusting the prism posture of the prism device by measuring to ensure that the angle between the incident light and the outgoing light of the prism device is Record the difference between the two azimuth reference prisms.

8. The method according to claim 6, characterized in that The conversion relationship is: δ=A-B+C+D; wherein δ represents the heading value of the ship; A represents the gyrotheodolite reading; B represents the theodolite reading on the deck outside the cabin; C represents the additional angle; and D represents the error value of the prism calibration device.

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