A method and system for calibrating the scale coefficients and compensating for the angle measurement error of a ring laser angle measuring device.

Abstract

This invention belongs to the field of ring laser angle measurement technology, specifically relating to a method and system for calibrating the scale coefficients and compensating for angle measurement errors in a ring laser angle measuring device. A multi-faceted prism is installed on the ring laser angle measuring device, replacing the reflective surface of a traditional zero-position indicator, to calibrate the scale coefficients and compensate for angle measurement errors. The calibration and compensation of the scale coefficients can be performed within the included angle range of the faces of the multi-faceted prism. This invention solves the problem of calibrating the scale coefficients and compensating for angle measurement errors in ring laser angle measuring devices under measurement conditions where full rotation is not possible.

Description

Technical Field

[0001] This invention belongs to the field of ring laser angle measurement technology, specifically relating to a method and system for calibrating the scale coefficients and compensating for angle measurement errors in a ring laser angle measurement device. Background Technology

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

[0003] To avoid angle measurement errors caused by changes in the scale coefficient value, most domestic manufacturers currently use zero-position indicators to calibrate and compensate the scale coefficient of the ring laser angle measuring device. However, traditional zero-position indicators can only generate a zero-position signal to calibrate the scale coefficient of the ring laser angle measuring device and compensate for the angle measurement error caused by the zero-bias drift of the gyroscope when the ring laser angle measuring device passes through the zero position. For rotating mechanisms in certain special situations, when the rotating mechanism under test cannot perform a full rotation, traditional zero-position indicators 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 this invention is to propose a method for calibrating the scale coefficient and compensating for the angle measurement error of a ring laser angle measuring device, thereby solving the problem of calibrating the scale coefficient and compensating for the angle measurement error under measurement conditions where the ring laser angle measuring device cannot rotate a full circle.

[0005] The technical solution of this invention:

[0006] In a first aspect, the present invention provides a method for calibrating the scale coefficient of a ring laser angle measuring device and compensating for angle measurement errors. The method is as follows: a multi-faceted prism is installed on the ring laser angle measuring device, and the multi-faceted prism is used to replace the reflective surface of the traditional zero-position indicator to calibrate the scale coefficient of the ring laser angle measuring device and compensate for the angle measurement error.

[0007] Furthermore, the calibration coefficients of the ring laser angle measuring device are specifically as follows:

[0008] Each time the polyhedron rotates until the normal of the reflecting surface is coaxial with the zero-position indicator, the zero-position indicator generates a pulse marker. The sum of the number of pulses output by the ring laser angle measuring device between two consecutive pulse markers from the zero-position indicator is recorded. Therefore, the expression for the true scale coefficient value of the ring laser angle measuring device in this measurement is:

[0009]

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

[0011] Furthermore, the compensation for angle measurement error is as follows:

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

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

[0014] Step 3: Calibrate the scale coefficients of the ring laser angle measuring device;

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

[0016] Furthermore, step 3 specifically involves:

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

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

[0019] Furthermore, step 4 specifically involves:

[0020] Based on the scale factor K and N, n, N1, N2, ... = N n According to the calculation formula (") calculates the angle value θ for this measurement.

[0021] Secondly, the present invention also provides a system for calibrating the scale coefficient of a ring laser angle measuring device and compensating for angle measurement errors, the system comprising: a module for calibrating the scale coefficient of the ring laser angle measuring device and a module for compensating for angle measurement errors;

[0022] This is used to mount a multifaceted prism on a ring laser angle measuring device, replacing the reflective surface of a traditional zero-position indicator, to calibrate the scale coefficient of the ring laser angle measuring device and compensate for angle measurement errors.

[0023] Furthermore, the calibration coefficient module for the ring laser angle measuring device is used for:

[0024] Each time the polyhedron rotates until the normal of the reflecting surface is coaxial with the zero-position indicator, the zero-position indicator generates a pulse marker. The sum of the number of pulses output by the ring laser angle measuring device between two consecutive pulse markers from the zero-position indicator is recorded. Therefore, the expression for the true scale coefficient value of the ring laser angle measuring device in this measurement is:

[0025]

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

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

[0028] The ring laser angle measuring device 1 is mounted on the rotating mechanism 2, so that the sensitive axis of the ring 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 normal of the reflecting surface of the polyhedron is coaxial with the zero-position indicator, the zero-position indicator generates a pulse mark.

[0030] Calibrate the scale coefficients of the ring laser goniometer;

[0031] The angle value is calculated based on the scale coefficient of the fixed-ring laser angle measuring device.

[0032] This invention, by mounting a multifaceted prism onto a ring laser angle measuring device, enables calibration of the scale coefficients and compensation for angle measurement errors within the included angle range of the prism's faces. This invention solves the problems of scale coefficient calibration and angle measurement error compensation for ring laser angle measuring devices under measurement conditions where full rotation is not possible. Attached Figure Description

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

[0034] Among them, 1-ring laser angle measuring device, 2-rotation mechanism, 3-rotating shaft, 4-polyhedron, 5-zero position indicator, 6-reading device. Detailed Implementation

[0035] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] This invention provides a method for calibrating the scale coefficients and compensating for angle measurement errors in a ring laser angle measuring device, such as... Figure 1 As shown, the implementation involves mounting a polyhedron on the ring laser angle measuring device, replacing the reflecting surface of the traditional zero-position indicator. Each time the polyhedron rotates until the normal of the reflecting surface is coaxial with the zero-position indicator, the zero-position indicator generates a pulse marker. The sum of the number of pulses output by the ring laser angle measuring device between two consecutive pulse markers from the zero-position indicator is recorded. Therefore, the expression for the true scale coefficient value of the ring laser angle measuring device in this measurement is: In the formula, K is the true scale coefficient of the ring laser angle measuring device in this measurement, Q is the number of faces of the polyhedron, N is the sum of the number of pulses output by the ring laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the ring laser angle measuring device.

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

[0038] Step 1: Install the ring laser angle measuring device 1 on the rotating mechanism 2, making the sensitive axis of the ring laser angle measuring device as parallel as possible to the rotating axis 3;

[0039] Step 2: Adjust the polyhedron 4 and the zero-position indicator 5 so that when the normal of the reflecting surface of the polyhedron 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, rotate the carrier under test from position 1 to position 2, and record 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 indicator, and N1, N2, ... N. n And the total number of pulses N output by the ring laser angle measuring device during the entire rotation process;

[0041] Step 4: Calculate based on the scale coefficient value formula The true value of the scale coefficient K1 in this measurement process was calculated.

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

[0043] This invention involves mounting a multifaceted prism onto a ring laser angle measuring device. Through the multifaceted prism and a zero-position indicator, this invention enables the calibration of the scale coefficients of the ring laser angle measuring device within the angle range between the faces of the multifaceted prism and compensates for angle measurement errors. This solves the problems of scale coefficient calibration and angle measurement error compensation for ring laser angle measuring devices that cannot rotate a full circle during measurement.

Claims

1. A method for calibrating the scale coefficients and compensating for angle measurement errors in a ring laser angle measuring device, characterized in that, The method is as follows: a multi-faceted prism is installed on the ring laser angle measuring device, and the multi-faceted prism is used to replace the reflective surface of the traditional zero-position indicator to calibrate the scale coefficient of the ring laser angle measuring device and compensate for the angle measuring error. The calibration coefficients of the ring laser angle measuring device are as follows: Each time the polyhedron rotates until the normal of the reflecting surface is coaxial with the zero-position indicator, the zero-position indicator generates a pulse marker. The sum of the number of pulses output by the ring laser angle measuring device between two consecutive pulse markers from the zero-position indicator is recorded. Therefore, the expression for the true scale coefficient value of the ring laser angle measuring device in this measurement is: (" / P"; In the formula, K is the true scale coefficient of the ring laser angle measuring device in this measurement work, Q is the number of faces of the polyhedron, N is the sum of the number of pulses output by the ring laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the ring laser angle measuring device. The compensation for angle measurement error is as follows: Step 1: Install the ring laser angle measuring device 1 on the rotating mechanism 2, so that the sensitive axis of the ring laser angle measuring device is parallel to the rotating shaft 3 of the rotating mechanism 2; Step 2: Adjust the polyhedron 4 and the zero-position indicator 5 so that when the normal of the reflecting surface of the polyhedron is coaxial with the zero-position indicator, the zero-position indicator generates a pulse mark. Step 3: Calibrate the scale coefficients of the ring laser angle measuring device; Step 4: Calculate the angle value according to the scale coefficient of the fixed ring laser angle measuring device; Step 3 specifically involves: According to the measurement requirements, the rotating mechanism 2 is rotated from preset position one to preset position two, and the number of pulses output by the reading device 6 of the annular laser angle measuring device between adjacent pulse marks of the zero indicator and N1, N2, ... N are recorded. n The total number of pulses N output by the ring laser angle measuring device during the entire rotation process; n is the number of faces that the polyhedron 4 rotates through during the entire rotation process minus 1; N>N1 +N2 +…N n N1 = N2 = … = N n ; The scale factor is a calculation factor used by a ring laser angle measuring device to convert the number of output pulses into an angle measurement value. The scale factor is calculated using the following formula. (" / P), calculate the true value K of the scale coefficient in this measurement process; Q is the number of faces of the polyhedron, N is the sum of the number of pulses output by the ring laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the ring laser angle measuring device. Step 4 specifically involves: Based on the scale factor K and N, n, N1, N2, ..., N n According to the calculation formula (") calculates the angle value θ for this measurement.

2. A system for calibrating the scale coefficients and compensating for the angle measurement error of a ring laser angle measuring device, characterized in that, The system includes: a calibration coefficient module for the ring laser angle measuring device and an angle measuring error compensation module; Used to mount a multifaceted prism on a ring laser angle measuring device, using the multifaceted prism to replace the reflective surface of a traditional zero-position indicator, to calibrate the scale coefficient of the ring laser angle measuring device and compensate for angle measurement errors; The calibration coefficient module for the ring laser angle measuring device is used for: Each time the polyhedron rotates until the normal of the reflecting surface is coaxial with the zero-position indicator, the zero-position indicator generates a pulse marker. The sum of the number of pulses output by the ring laser angle measuring device between two consecutive pulse markers from the zero-position indicator is recorded. Therefore, the expression for the true scale coefficient value of the ring laser angle measuring device in this measurement is: (" / P"; In the formula, K is the true scale coefficient of the ring laser angle measuring device in this measurement work, Q is the number of faces of the polyhedron, N is the sum of the number of pulses output by the ring laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the ring laser angle measuring device. The angle measurement error compensation module is used for: The ring laser angle measuring device 1 is mounted on the rotating mechanism 2, so that the sensitive axis of the ring 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 normal of the reflecting surface of the polyhedron is coaxial with the zero-position indicator, the zero-position indicator generates a pulse mark. Calibrate the scale coefficients of the ring laser goniometer; Calculate the angle value based on the scale coefficient of the fixed-ring laser angle measuring device; The specific calibration coefficients for the ring laser angle measuring device are as follows: According to the measurement requirements, the rotating mechanism 2 is rotated from preset position one to preset position two, and the number of pulses output by the reading device 6 of the annular laser angle measuring device between adjacent pulse marks of the zero indicator and N1, N2, ... N are recorded. n The total number of pulses N output by the ring laser angle measuring device during the entire rotation process; n is the number of faces that the polyhedron 4 rotates through during the entire rotation process minus 1; N>N1 +N2 +…N n N1 = N2 = … = N n ; The scale factor is a calculation factor used by a ring laser angle measuring device to convert the number of output pulses into an angle measurement value. The scale factor is calculated using the following formula. (" / P), calculate the true value of the scale coefficient K in this measurement process; Q is the number of faces of the polyhedron, N is the sum of the number of pulses output by the ring laser angle measuring device between two consecutive pulse marks of the zero position indicator, and P is the pulse unit of the ring laser angle measuring device; Based on the scale factor K and N, n, N1, N2, ..., N n According to the calculation formula (") calculates the angle value θ for this measurement.

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