Annular laser angle measurement device scale coefficient calibration and angle measurement error compensation method and system

Abstract

The invention belongs to the technical field of annular laser angle measurement, and particularly relates to a scale coefficient calibration and angle measurement error compensation method and system for an annular laser angle measurement device. The annular laser angle measurement device is provided with the polygonal prism, the polygonal prism is used for replacing a reflecting surface of a traditional zero indicator to calibrate the scale coefficient of the annular laser angle measurement device and compensate the angle measurement error, and scale coefficient calibration and angle measurement error compensation can be carried out on the annular laser angle measurement device within the range of the included angle between the surfaces of the polygonal prism. According to the invention, the problems of calibration of the scale coefficient and compensation of the angle measurement error under the measurement condition that the annular laser angle measurement device cannot rotate for a whole circle can be solved.

Description

Technical Field

[0001] The invention belongs to the technical field of annular laser angle measurement, and in particular relates to a method and system for calibrating a scale factor of an annular laser angle measurement device and compensating an angle measurement error. Background Art

[0002] The ring laser angle measuring device is based on the Sagnac effect. When the resonant cavity plane of the ring laser angle measuring device has an angular velocity input relative to the inertial space, the frequencies of the two beams of light propagating in opposite directions in the resonant cavity will be split. The signal output by the ring laser angle measuring device is the frequency splitting amount, which is proportional to the input angular velocity. The main parameter affecting the measurement accuracy of the ring laser angle measuring device is the stability of its scale factor. If the scale factor value changes during the measurement process, it will cause measurement errors. The scale factor value of the ring laser angle measuring device is affected by many factors, including changes in the working environment temperature of the ring laser angle measuring device, changes in the angle between the sensitive axis of the ring laser angle measuring device and the carrier rotation axis, and changes in the working parameters of the ring laser angle measuring device itself.

[0003] In order to avoid the angle measurement error of the ring laser angle measuring device caused by the change of the scale coefficient value, most domestic manufacturers currently install a zero position indicator to calibrate and compensate the scale coefficient of the ring laser angle measuring device. However, the traditional zero position indicator can only generate a zero position signal when the ring laser angle measuring device passes through the zero position to calibrate the scale coefficient of the ring laser angle measuring device and compensate for the angle measurement error caused by the gyro zero bias drift. For rotating mechanisms in certain special occasions, when the rotating mechanism to be measured cannot rotate a full circle, the traditional zero position indicator will not be able to calibrate the scale coefficient of the ring laser angle measuring device and compensate for the angle measurement error. Summary of the invention

[0004] The purpose of the present invention is to propose a method for calibrating the scale coefficient and compensating the angle measurement error of an annular laser angle measuring device, so as to solve the problem of calibrating the scale coefficient and compensating the angle measurement error of the annular laser angle measuring device under the measurement condition that the annular laser angle measuring device cannot rotate a full circle.

[0005] The technical solution of the present invention:

[0006] In the first aspect, the present invention provides a method for calibrating the scale coefficient and compensating the angle measurement error of an annular laser angle measuring device. The method is: installing a polyhedron on the annular laser angle measuring device, and using the polyhedron to replace the reflective surface of the traditional zero position indicator to calibrate the scale coefficient of the annular laser angle measuring device and compensate for the angle measurement error.

[0007] Furthermore, the scale factor of the ring laser angle measuring device is calibrated, specifically:

[0008] Whenever the polyhedron rotates until the normal of the reflecting surface is coaxial with the zero position indicator, the zero position indicator generates a pulse mark. The sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator is recorded. The true scale coefficient value of the annular laser angle measuring device in this measurement is expressed as

[0009]

[0010] Where K is the true scale coefficient of the annular laser angle measuring device in this measurement work, Q is the number of faces of the polyhedron, N is the sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the annular laser angle measuring device.

[0011] Furthermore, the angle measurement error is compensated, specifically:

[0012] Step 1: Install the annular laser angle measuring device 1 on the rotating mechanism 2 so that the sensitive axis of the annular laser angle measuring device is parallel to the rotating axis 3 of the rotating mechanism 2;

[0013] Step 2: Adjust the polyhedron 4 and the zero position indicator 5 so that when the polyhedron is rotated until the normal line of the reflecting surface is coaxial with the zero position indicator, the zero position indicator generates a pulse mark;

[0014] Step 3, calibrating the scale factor of the ring laser angle measuring device;

[0015] Step 4, calculating the angle value according to the scale coefficient of the fixed ring laser angle measuring device.

[0016] Furthermore, step 3 is specifically as follows:

[0017] According to the measurement work requirements, the rotating mechanism 2 is rotated from the preset position 1 to the preset position 2, and the pulse numbers N1, N2, ... N output by the reading device 6 of the annular laser angle measuring device between adjacent pulse marks of the zero position indicator are recorded. n , and the total number of pulses N output by the annular laser angle measuring device during the entire rotation process; n is the number of faces of the polyhedron 4 rotated during the entire rotation process minus 1; N>N1+N2+…N n ; N1=N2=…=N n ;

[0018] The scale factor is the calculation coefficient of the output pulse number of the ring laser angle measuring device into the angle measurement value. According to the calculation formula of the scale factor value The true value K of the scale coefficient of this measurement process is calculated; Q is the number of faces of the polyhedron, N is the sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the annular laser angle measuring device.

[0019] Furthermore, step 4 is specifically as follows:

[0020] According to the scale factor K and N, n, N1, N2, ... = N n , according to the calculation formula (")Calculate the angle value θ of this measurement.

[0021] In a second aspect, the present invention further provides a system for calibrating the scale coefficient of an annular laser angle measuring device and compensating for the angle measuring error, the system comprising: a module for calibrating the scale coefficient of the annular laser angle measuring device and a module for compensating for the angle measuring error;

[0022] It is used to install a polyhedron on a ring laser angle measuring device, and use the polyhedron to replace the reflecting surface of a traditional zero position indicator to calibrate the scale factor of the ring laser angle measuring device and compensate for the angle measurement error.

[0023] Furthermore, the scale factor module of the ring laser angle measuring device is calibrated to:

[0024] Whenever the polyhedron rotates until the normal of the reflecting surface is coaxial with the zero position indicator, the zero position indicator generates a pulse mark. The sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator is recorded. The true scale coefficient value of the annular laser angle measuring device in this measurement is expressed as

[0026] Where K is the true scale coefficient of the annular laser angle measuring device in this measurement work, Q is the number of faces of the polyhedron, N is the sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the annular laser angle measuring device.

[0027] Furthermore, the angle measurement error compensation module is used to:

[0028] The annular laser angle measuring device 1 is mounted on the rotating mechanism 2 so that the sensitive axis of the annular laser angle measuring device is parallel to the rotating axis 3 of the rotating mechanism 2;

[0029] Adjust the polyhedron 4 and the zero position indicator 5 so that when the polyhedron is rotated until the normal line of the reflecting surface is coaxial with the zero position indicator, the zero position indicator generates a pulse mark;

[0030] Calibrate the scale factor of the ring laser angle measuring device;

[0031] The angle value is calculated according to the scale coefficient of the fixed ring laser angle measuring device.

[0032] The present invention can calibrate the scale factor of the annular laser angle measuring device and compensate for the angle measurement error within the range of the face angle of the polyhedron by installing a polyhedron on the annular laser angle measuring device. The present invention can solve the problem of calibration of the scale factor and compensation of the angle measurement error of the annular laser angle measuring device under the measurement condition that the annular laser angle measuring device cannot rotate a full circle. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the ring laser angle measuring device system;

[0034] Among them, 1-annular laser angle measuring device, 2-rotation mechanism, 3-rotation axis, 4-polyhedron, 5-zero position indicator, 6-reading device. DETAILED DESCRIPTION

[0035] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings.

[0036] The present invention provides a method for calibrating the scale coefficient of a ring laser angle measuring device and compensating the angle measuring error. Figure 1 As shown, the implementation method is to install a polyhedron on the annular laser angle measuring device, and use the polyhedron to replace the reflective surface of the traditional zero position indicator. Whenever the polyhedron rotates until the normal of the reflective surface is coaxial with the zero position indicator, the zero position indicator generates a pulse mark, and the sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator is recorded. The true scale coefficient value expression of the annular laser angle measuring device in this measurement work is: Where K is the true scale coefficient of the annular laser angle measuring device in this measurement work, Q is the number of faces of the polyhedron, N is the sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the annular laser angle measuring device.

[0037] In this implementation, the steps are as follows:

[0038] Step 1: Install the annular laser angle measuring device 1 on the rotating mechanism 2 so that the sensitive axis of the annular laser angle measuring device is as parallel as possible to the rotating shaft 3;

[0039] Step 2: Adjust the polyhedron 4 and the zero position indicator 5 so that when the polyhedron is rotated until the normal line of the reflecting surface is coaxial with the zero position indicator, the zero position indicator generates a pulse mark;

[0040] Step 3: According to the requirements of this measurement work, the carrier to be measured is moved from position 1 to position 2, and the number of pulses output by the reading device 6 of the ring laser angle measuring device between two consecutive pulse marks of the zero position indicator and N1, N2, ... N are recorded. n , and the total number of pulses N output by the annular laser angle measuring device during the entire rotation process;

[0041] Step 4: Calculate the formula based on the scale factor value The true value K1 of the scale coefficient of this measurement process is calculated;

[0042] Step 5: According to the calculation formula (")The angle value θ of this measurement can be calculated.

[0043] The present invention installs a polyhedron on the annular laser angle measuring device. The present invention can calibrate the scale factor of the annular laser angle measuring device within the range of the polyhedron surface angle and compensate for the angle measurement error through the polyhedron and the zero position indicator, and can solve the problem of calibration of the scale factor and compensation of the angle measurement error of the annular laser angle measuring device under the measurement condition that the annular laser angle measuring device cannot rotate a full circle.

Claims

1. A method for calibrating the scale factor of a ring laser angle measuring device and compensating the angle measuring error, characterized in that: The method comprises the following steps: installing a polyhedron on a ring laser angle measuring device, using the polyhedron to replace the reflective surface of a traditional zero position indicator, so as to calibrate the scale factor of the ring laser angle measuring device and compensate for the angle measuring error.

2. The method for calibrating the scale coefficient and compensating the angle measurement error of a ring laser angle measurement device according to claim 1, characterized in that: Calibrate the scale factor of the ring laser angle measuring device, specifically: Whenever the polyhedron rotates until the normal of the reflecting surface is coaxial with the zero position indicator, the zero position indicator generates a pulse mark. The sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator is recorded. The true scale coefficient value of the annular laser angle measuring device in this measurement is expressed as Where K is the true scale coefficient of the annular laser angle measuring device in this measurement work, Q is the number of faces of the polyhedron, N is the sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the annular laser angle measuring device.

3. The method for calibrating the scale coefficient and compensating the angle measurement error of a ring laser angle measurement device according to claim 1, characterized in that: Compensate for angle measurement errors, specifically: Step 1: Install the annular laser angle measuring device 1 on the rotating mechanism 2 so that the sensitive axis of the annular laser angle measuring device is parallel to the rotating axis 3 of the rotating mechanism 2; Step 2: Adjust the polyhedron 4 and the zero position indicator 5 so that when the polyhedron is rotated until the normal line of the reflecting surface is coaxial with the zero position indicator, the zero position indicator generates a pulse mark; Step 3, calibrating the scale factor of the ring laser angle measuring device; Step 4, calculating the angle value according to the scale coefficient of the fixed ring laser angle measuring device.

4. The method for calibrating the scale coefficient and compensating the angle measurement error of a ring laser angle measurement device according to claim 3, characterized in that: Step 3 is as follows: According to the measurement work requirements, the rotating mechanism 2 is rotated from the preset position 1 to the preset position 2, and the pulse numbers N1, N2, ... N output by the reading device 6 of the annular laser angle measuring device between adjacent pulse marks of the zero position indicator are recorded. n , and the total number of pulses N output by the annular laser angle measuring device during the entire rotation process; n is the number of faces of the polyhedron 4 rotated during the entire rotation process minus 1; N>N1+N2+…N n ; N1=N2=…=N n ; The scale factor is the calculation coefficient of the output pulse number of the ring laser angle measuring device into the angle measurement value. According to the calculation formula of the scale factor value The true value K of the scale coefficient of this measurement process is calculated; Q is the number of faces of the polyhedron, N is the sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the annular laser angle measuring device.

5. The method for calibrating the scale coefficient and compensating the angle measurement error of a ring laser angle measurement device according to claim 4, characterized in that: Step 4 is as follows: According to the scale factor K and N, n, N1, N2, ... = N n , according to the calculation formula The angle value θ of this measurement is calculated.

6. A scale factor calibration and angle measurement error compensation system for a ring laser angle measurement device, characterized in that: The system comprises: a module for calibrating the scale coefficient of the annular laser angle measuring device and a module for compensating the angle measuring error; It is used to install a polyhedron on a ring laser angle measuring device, and use the polyhedron to replace the reflecting surface of a traditional zero position indicator to calibrate the scale factor of the ring laser angle measuring device and compensate for the angle measurement error.

7. The scale coefficient calibration and angle measurement error compensation system of a ring laser angle measurement device according to claim 6, characterized in that: Calibration coefficient module for ring laser angle measuring device, used for: Whenever the polyhedron rotates until the normal of the reflecting surface is coaxial with the zero position indicator, the zero position indicator generates a pulse mark. The sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator is recorded. The true scale coefficient value of the annular laser angle measuring device in this measurement is expressed as Where K is the true scale coefficient of the annular laser angle measuring device in this measurement work, Q is the number of faces of the polyhedron, N is the sum of the pulses output by the annular laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the annular laser angle measuring device.

8. The scale coefficient calibration and angle measurement error compensation system of a ring laser angle measurement device according to claim 7, characterized in that: Angular error compensation module for: The annular laser angle measuring device 1 is mounted on the rotating mechanism 2 so that the sensitive axis of the annular laser angle measuring device is parallel to the rotating axis 3 of the rotating mechanism 2; Adjust the polyhedron 4 and the zero position indicator 5 so that when the polyhedron is rotated until the normal line of the reflecting surface is coaxial with the zero position indicator, the zero position indicator generates a pulse mark; Calibrate the scale factor of the ring laser angle measuring device; The angle value is calculated according to the scale coefficient of the fixed ring laser angle measuring device.

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