Inertial navigation and optical axis strapdown assembly method

Abstract

The invention provides an inertial navigation and optical axis strapdown assembly method, and relates to the technical field of precise optical machine adjustment, and the inertial navigation and optical axis strapdown assembly method comprises the following steps: S1, installing a cubic prism on an inertial navigation assembly, and enabling three pairwise vertical surfaces of the cubic prism to be respectively vertical to three inertial navigation axes of the inertial navigation assembly; s2, a gradienter is placed on the rotary table top, the orientation and the pitching angle of the rotary table top are adjusted, and the rotary table top is made to be horizontal; s3, a first theodolite and an infrared collimator are placed on the two sides of the rotary table, the orientation and the pitching angle of the first theodolite are adjusted, and the optical axis of the first theodolite is made to be parallel to the optical axis of the infrared collimator; s4, mounting an inertial navigation assembly on an optical sensor, and then placing the optical sensor on the surface of the rotary table, wherein the optical axis of the optical sensor is as high as the optical axis of the infrared collimator; s5, adjusting the optical axis of the optical sensor; and S6, adjusting the roll angle of the optical sensor. According to the assembling method, the cubic prism is used as an assembling and adjusting reference, the inertial navigation shaft is dominated, the assembling and adjusting precision is high, and adjustment and calibration are convenient.

Description

Technical Field

[0001] The invention relates to the technical field of precision optical-mechanical adjustment, and in particular provides an inertial navigation and optical axis strapdown assembly method. Background Art

[0002] Inertial navigation is based on Newton's inertial principle. It uses inertial elements (accelerometers) to measure the acceleration of the vehicle itself, and obtains the speed and position through integration and calculation, so as to achieve the purpose of navigation and positioning of the vehicle. The inertial navigation device is installed on the airborne pod. The optical sensor on the pod outputs the azimuth and pitch angle of the target to be measured, which can realize the geographic positioning of the target to be measured. In order to ensure the measurement accuracy, it is necessary to ensure that the inertial axis of the inertial navigation device is consistent with the optical axis of the optical sensor during the installation and adjustment process. Summary of the invention

[0003] The purpose of the present application is to provide a strapdown assembly method for an inertial navigation system and an optical axis, so as to achieve consistency between the optical axis of an optical sensor and the inertial navigation axis, thereby improving the geographic positioning accuracy of a measured target.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A strapdown assembly method for an inertial navigation system and an optical axis, the method comprising the following steps:

[0006] S1: Install a cubic prism on the inertial navigation component. The three perpendicular faces of the cubic prism are X-face, Y-face and Z-face. The X-face is perpendicular to the X-axis of the inertial navigation component, the Y-face is perpendicular to the Y-axis of the inertial navigation component, and the Z-face is perpendicular to the Z-axis of the inertial navigation component.

[0007] S2: Place a level on the turntable surface and adjust the azimuth and pitch angle of the turntable surface to make it level;

[0008] S3: placing a first theodolite and an infrared collimator on both sides of the turntable, adjusting the azimuth and elevation angle of the first theodolite so that the optical axis of the first theodolite is parallel to the optical axis of the infrared collimator;

[0009] S4: After installing the inertial navigation assembly on the optical sensor, place it on the turntable surface. The optical axis of the optical sensor is at the same height as the optical axis of the infrared collimator.

[0010] S5: Adjust the optical axis of the optical sensor so that the optical axis of the optical sensor is perpendicular to the Z surface of the cubic prism;

[0011] S6: Adjust the roll angle of the optical sensor so that the roll angle is perpendicular to the X-plane of the cubic prism.

[0012] The inertial navigation and optical axis strapdown assembly method provided by the present invention also has the following characteristics: S5 comprises:

[0013] S5.1: Rotate the azimuth and elevation angles of the turntable so that the Z surface of the cubic prism is perpendicular to the optical axis of the first theodolite;

[0014] S5.2: Set up a second theodolite and adjust the level of the second theodolite so that the optical axis of the second theodolite is 90° to the optical axis of the first theodolite;

[0015] S5.3: Adjust the roll angle of the optical sensor so that the X surface of the cubic prism is perpendicular to the optical axis of the second theodolite;

[0016] S5.4: Adjust the lens or CCD of the optical sensor so that the optical axis of the optical sensor is parallel to the optical axis of the infrared collimator, and then the optical axis of the optical sensor is perpendicular to the Z surface of the cubic prism.

[0017] The inertial navigation and optical axis strapdown assembly method provided by the present invention also has the following characteristics: S6 comprises:

[0018] S6.1: Check whether the X-axis of the optical sensor is perpendicular to the X-plane of the cubic prism. If so, the assembly is complete. If not, proceed to S6.2:

[0019] S6.2: According to the detection result of S6.1, adjust the roll angle of the optical sensor, and return to S6.1 after the adjustment.

[0020] The inertial navigation and optical axis strapdown assembly method provided by the present invention also has the following feature: S6.1 comprises: rotating the azimuth angle of the turntable so that the target plate image of the infrared collimator is located at the left edge and the right edge of the CCD image respectively, and measuring whether the center of the target plate image of the infrared collimator coincides with the horizontal line of the CCD reference cross when it is at the left and right edges; if so, the X-axis of the optical sensor is perpendicular to the X-plane of the cubic prism.

[0021] Beneficial Effects

[0022] In the strapdown assembly method of the inertial navigation system and the optical axis provided by the present invention, a cubic prism is used as an adjustment reference to make the inertial navigation axis explicit, so that the adjustment accuracy is high and the adjustment is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0024] Figure 1 This is a schematic diagram of the installation of the inertial navigation component and the cubic prism;

[0025] Figure 2It is the schematic diagram of the turntable adjustment;

[0026] Figure 3 This is a schematic diagram of the optical sensor optical axis adjustment;

[0027] Figure 4 This is a schematic diagram of optical sensor CCD imaging.

[0028] Among them, 1: inertial navigation component; 2: cubic prism; 3: turntable; 4: level; 5: optical sensor; 51: lens; 52: CCD; 6: first theodolite; 7: infrared parallel light tube; 8: second theodolite. DETAILED DESCRIPTION

[0029] The present application is further described in detail below in conjunction with the accompanying drawings and examples, but it should be noted that these implementation methods are not limitations of the present application, and equivalent changes or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these implementation methods are all within the scope of protection of the present application.

[0030] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the creation of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the creation of the present application.

[0031] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0032] The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention of this application can be understood by specific circumstances.

[0033] like Figure 1-4 As shown, an embodiment of the present application provides an inertial navigation and optical axis strapdown assembly method, the method comprising the following steps:

[0034] S1: A cubic prism 2 is installed on the inertial navigation component 1. The three perpendicular faces of the cubic prism 2 are the X face, the Y face and the Z face. The X face is perpendicular to the X axis of the inertial navigation component 1, the Y face is perpendicular to the Y axis of the inertial navigation component 1, and the Z face is perpendicular to the Z axis of the inertial navigation component 1.

[0035] S2: placing a level 4 on the surface of the turntable 3, adjusting the azimuth and pitch angle of the surface of the turntable 3 to make the surface of the turntable 3 level;

[0036] S3: placing a first theodolite 6 and an infrared collimator 7 on both sides of the turntable 3, adjusting the azimuth and elevation angle of the first theodolite 6 so that the optical axis of the first theodolite 6 is parallel to the optical axis of the infrared collimator 7;

[0037] S4: After the inertial navigation assembly 1 is mounted on the optical sensor 5, it is placed on the table of the turntable 3, and the optical axis of the optical sensor 5 is at the same height as the optical axis of the infrared collimator 7;

[0038] S5: Adjust the optical axis of the optical sensor 5 so that the optical axis of the optical sensor 5 is perpendicular to the Z surface of the cubic prism 2;

[0039] S6: Adjust the roll angle of the optical sensor 5 so that the roll angle is perpendicular to the X-plane of the cubic prism 2 .

[0040] In some embodiments, the S5 includes:

[0041] S5.1: Rotate the azimuth and elevation angles of the turntable 3 so that the Z plane of the cubic prism 2 is perpendicular to the optical axis of the first theodolite 6;

[0042] S5.2: Set up the second theodolite 8 and adjust the level of the second theodolite 8 so that the optical axis of the second theodolite 8 is 90° with the optical axis of the first theodolite 6;

[0043] S5.3: Adjust the roll angle of the optical sensor 5 so that the X-plane of the cubic prism 2 is perpendicular to the optical axis of the second theodolite 8;

[0044] S5.4: Adjust the lens 51 or CCD 52 of the optical sensor 5 so that the optical axis of the optical sensor 5 is parallel to the optical axis of the infrared collimator 7 , and then the optical axis of the optical sensor 5 is perpendicular to the Z plane of the cubic prism 2 .

[0045] In some embodiments, the S6 includes:

[0046] S6.1: Check whether the X-axis of the optical sensor 5 is perpendicular to the X-plane of the cubic prism 2. If so, the assembly is complete. If not, proceed to S6.2:

[0047] S6.2: According to the detection result of S6.1, adjust the roll angle of the optical sensor 5, and return to S6.1 after adjustment.

[0048] In some embodiments, S6.1 includes: rotating the azimuth angle of the turntable 3 so that the target plate image of the infrared collimator 7 is located at the left edge and the right edge of the CCD image respectively, and measuring whether the center of the target plate image of the infrared collimator 7 coincides with the horizontal line of the CCD reference cross when it is at the left and right edges. If so, the X-axis of the optical sensor 5 is perpendicular to the X-plane of the cubic prism 2.

[0049] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A strapdown assembly method for an inertial navigation system and an optical axis, characterized in that: The method comprises the following steps: S1: Install a cubic prism on the inertial navigation component. The three perpendicular faces of the cubic prism are X-face, Y-face and Z-face. The X-face is perpendicular to the X-axis of the inertial navigation component, the Y-face is perpendicular to the Y-axis of the inertial navigation component, and the Z-face is perpendicular to the Z-axis of the inertial navigation component. S2: Place a level on the turntable surface and adjust the azimuth and pitch angle of the turntable surface to make it level; S3: placing a first theodolite and an infrared collimator on both sides of the turntable, adjusting the azimuth and elevation angle of the first theodolite so that the optical axis of the first theodolite is parallel to the optical axis of the infrared collimator; S4: After installing the inertial navigation assembly on the optical sensor, place it on the turntable surface. The optical axis of the optical sensor is at the same height as the optical axis of the infrared collimator. S5: Adjust the optical axis of the optical sensor so that the optical axis of the optical sensor is perpendicular to the Z surface of the cubic prism; S6: Adjust the roll angle of the optical sensor so that the roll angle is perpendicular to the X-plane of the cubic prism.

2. The strapdown assembly method of inertial navigation and optical axis according to claim 1, characterized in that: The S5 includes: S5.1: Rotate the azimuth and elevation angles of the turntable so that the Z surface of the cubic prism is perpendicular to the optical axis of the first theodolite; S5.2: Set up a second theodolite and adjust the level of the second theodolite so that the optical axis of the second theodolite is 90° to the optical axis of the first theodolite; S5.3: Adjust the roll angle of the optical sensor so that the X surface of the cubic prism is perpendicular to the optical axis of the second theodolite; S5.4: Adjust the lens or CCD of the optical sensor so that the optical axis of the optical sensor is parallel to the optical axis of the infrared collimator, and then the optical axis of the optical sensor is perpendicular to the Z surface of the cubic prism.

3. The strapdown assembly method of inertial navigation and optical axis according to claim 1, characterized in that: The S6 includes: S6.1: Check whether the X-axis of the optical sensor is perpendicular to the X-plane of the cubic prism. If so, the assembly is complete. If not, proceed to S6.2: S6.2: According to the detection result of S6.1, adjust the roll angle of the optical sensor, and return to S6.1 after the adjustment.

4. The strapdown assembly method of inertial navigation and optical axis according to claim 3, characterized in that: The S6.1 includes: rotating the azimuth angle of the turntable so that the target plate image of the infrared collimator is located at the left edge and the right edge of the CCD image respectively, and measuring whether the center of the target plate image of the infrared collimator coincides with the horizontal line of the CCD reference cross when it is at the left and right edges. If so, the X-axis of the optical sensor is perpendicular to the X-plane of the cubic prism.

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