Leveling and sag alignment calibration system and calibration method for double-shaft follow-up temperature control rotary table

Abstract

The invention provides a leveling and sag alignment calibration system and calibration method for a double-shaft follow-up temperature control rotary table, and belongs to the technical field of inertial navigation calibration. In the system, an inertial unit is located on a working table top, and the working table top is fixed to a rotary table inner ring shaft table top in the double-shaft follow-up temperature control rotary table; the rotary table inner ring shaft table surface, the working table surface and the inertial measurement unit are all arranged in the incubator body; the incubator body is fixedly connected with an outer ring shaft of the double-shaft follow-up temperature control rotary table, the incubator body is further provided with an incubator door, and an inner ring shaft table face of the rotary table is connected with a ring shaft motor. The double-shaft follow-up temperature control rotary table controller is located on one side of the double-shaft follow-up temperature control rotary table and electrically connected with the double-shaft follow-up temperature control rotary table. The inertial measurement unit test equipment is positioned on the other side of the double-shaft follow-up temperature control rotary table and is electrically connected with the inertial measurement unit through the double-shaft follow-up temperature control rotary table; according to the system, an inertial unit can be fixed on a working table for multiple times, horizontal and vertical errors of the working table are measured, leveling and vertical alignment of the double-shaft follow-up temperature control rotary table are completed, and inertial navigation calibration precision is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial navigation calibration, and in particular relates to a leveling and plumbness calibration system and a calibration method for a dual-axis follow-up temperature-controlled turntable. Background Art

[0002] Inertial navigation calibration refers to the precise measurement of various parameters in the system mathematical model through effective experimental means in a specific method, and then the calibration parameters are compensated through the system algorithm to reduce the error of the inertial sensor and improve the system accuracy.

[0003] The main calibration equipment for inertial navigation calibration includes dual-axis rate turntable, temperature control turntable, etc. Before using dual-axis rate turntable and temperature control turntable for inertial navigation calibration, turntable accuracy measurement, turntable north reference calibration, turntable level and heading calibration must be carried out. Among them, the commonly used method for turntable level and heading calibration is mainly to use a level to calibrate the horizontality of the work table and the verticality (heading) of the work table for calibration. However, since the dual-axis follow-up temperature control turntable is a dual-axis rate turntable + temperature box structure, after the dual-axis follow-up temperature control turntable is powered on and the servo is working, the temperature box door must be closed, and the turntable work table is in the temperature box. There are the following problems: (1) The general level has no fixed hole and cannot be fixed on the work table of the dual-axis follow-up temperature control turntable; (2) The general level cannot be fixed on the turntable work table, and the measurement value cannot be read outside the dual-axis follow-up temperature control turntable; (3) The level measurement axis cannot be flipped 180° on the turntable work table at any time.

[0004] The above-mentioned dual-axis follow-up temperature-controlled turntable cannot use a general level to calibrate the horizontal and vertical (heading) of the work surface. Summary of the invention

[0005] In order to solve the technical problem in the prior art that a dual-axis follow-up temperature-controlled turntable cannot use a general level to calibrate the horizontal and vertical (heading) of the work table, the present invention provides a leveling and plumbing calibration system and calibration method for a dual-axis follow-up temperature-controlled turntable. The system can fix an inertial group on the work table for multiple times to measure the horizontal and vertical (heading) errors of the work table, thereby completing the leveling and plumbing calibration of the dual-axis follow-up temperature-controlled turntable and improving the calibration accuracy of the inertial navigation.

[0006] In a first aspect, a leveling and plumbing calibration system for a dual-axis follow-up temperature control turntable is provided, comprising: a dual-axis follow-up temperature control turntable 1, a work surface 3, an inertial group 4, an inertial group test device 6, and a dual-axis follow-up temperature control turntable controller 9;

[0007] An inertial measuring shaft 5 is arranged in the inertial group 4, and the inertial group 4 is located on the work surface 3, and the work surface 3 is fixed on the inner ring shaft surface of the turntable in the double-axis follow-up temperature control turntable 1; the inner ring shaft surface of the turntable, the work surface 3, and the inertial group 4 are all inside the temperature box body of the double-axis follow-up temperature control turntable 1; the temperature box body is fixedly connected to the outer ring shaft of the double-axis follow-up temperature control turntable 1, and the temperature box body is also provided with a box door 2, and the inner ring shaft surface of the turntable is connected to the ring shaft motor in the double-axis follow-up temperature control turntable 1;

[0008] The dual-axis follow-up temperature control turntable controller 9 is located on one side of the dual-axis follow-up temperature control turntable 1 and is electrically connected to the dual-axis follow-up temperature control turntable 1 for controlling the dual-axis follow-up temperature control turntable 1;

[0009] The inertial group test device 6 is located at the other side of the dual-axis servo temperature-controlled turntable 1 , and is electrically connected to the inertial group 4 through the dual-axis servo temperature-controlled turntable 1 for controlling the inertial group 4 .

[0010] The dual-axis follow-up temperature control turntable controller 9 is used to control the power supply, servo, indexing, speed and temperature control of the dual-axis follow-up temperature control turntable 1 .

[0011] The inertial group test device 6 is used to control the inertial group 4 to be powered on and to work normally, and to monitor the output data of the meter measuring axis 5 in the inertial group 4 .

[0012] The accuracy of the additional measuring axis 5 is less than or equal to 10 arc seconds.

[0013] Optionally, the inertial group 4 and the work table 3 , and the work table 3 and the inner ring shaft table of the turntable in the dual-axis follow-up temperature control turntable 1 are all fixedly connected by screws 8 .

[0014] In a second aspect, a method for leveling and plumbing calibration of a dual-axis follow-up temperature-controlled turntable is provided, which is used for the leveling and plumbing calibration system of the dual-axis follow-up temperature-controlled turntable described in the first aspect, and the method comprises: horizontal calibration and vertical calibration of the worktable 3,

[0015] The horizontal calibration process is as follows:

[0016] The inner ring shaft table of the double-axis follow-up temperature control turntable 1 is controlled to rotate by the double-axis follow-up temperature control turntable controller 9, so that the working table 3 returns to zero level;

[0017] Obtaining the current first angle value of the work surface 3 collected by the measuring axis 5 through the inertial group testing device 6;

[0018] After the inertial group 4 is vertically rotated 180° around the work surface 3, the inner ring shaft of the turntable of the double-axis follow-up temperature control turntable 1 is controlled by the double-axis follow-up temperature control turntable controller 9 to rotate, so that the work surface 3 returns to zero horizontally;

[0019] Obtain the current second angle value of the worktable 3 collected by the measuring axis 5 through the inertial group test device 6;

[0020] Complete horizontal calibration of the work surface 3 based on the first angle value and the second angle value;

[0021] The vertical calibration process is:

[0022] The inner ring shaft table of the double-axis follow-up temperature control turntable 1 is controlled to rotate by the double-axis follow-up temperature control turntable controller 9, so that the working table 3 is perpendicular to the horizontal plane;

[0023] Obtain the current third angle value of the work surface 3 collected by the measuring axis 5 through the inertial group test device 6;

[0024] After the inertial group 4 is vertically rotated 180° around the work surface 3, the inner ring shaft of the turntable of the double-axis follow-up temperature control turntable 1 is controlled by the double-axis follow-up temperature control turntable controller 9 to rotate so that the work surface 3 is perpendicular to the horizontal plane;

[0025] Obtain the current fourth angle value of the work surface 3 collected by the measuring axis 5 through the inertial group testing device 6;

[0026] The vertical calibration of the work surface 3 is completed based on the third angle value and the fourth angle value.

[0027] Optionally, completing the horizontal calibration of the work surface 3 based on the first angle value and the second angle value includes:

[0028] Determine the horizontal calibration value through the inertial group test device 6, and store the horizontal calibration value in the dual-axis follow-up temperature control turntable controller 9, the horizontal calibration value = (first angle value + second angle value) / 2;

[0029] The inner ring shaft table of the dual-axis follow-up temperature-controlled turntable 1 is controlled to rotate by the dual-axis follow-up temperature-controlled turntable controller 9, so that the worktable 3 rotates; when the output data of the meter measurement axis 5 obtained by the inertial group test equipment 6 is equal to the horizontal calibration value, the worktable 3 stops rotating;

[0030] Remove the inertia group 4, rotate the inertia group 4 vertically 180° around the work surface 3, and then fix the inertia group 4 on the work surface 3;

[0031] The inner ring shaft surface of the dual-axis follow-up temperature-controlled turntable 1 is controlled to rotate by the dual-axis follow-up temperature-controlled turntable controller 9 to rotate the work table 3; when the output data of the added measurement axis 5 obtained by the inertial group test equipment 6 is equal to the horizontal calibration value, the work table 3 stops rotating.

[0032] Optionally, completing the vertical calibration of the work surface 3 based on the third angle value and the fourth angle value includes:

[0033] Determine the vertical calibration value through the inertial group test device 6, and store the vertical calibration value in the dual-axis follow-up temperature control turntable controller 9, the vertical calibration value = (third angle value + fourth angle value) / 2;

[0034] The inner ring shaft table of the dual-axis follow-up temperature-controlled turntable 1 is controlled to rotate by the dual-axis follow-up temperature-controlled turntable controller 9, so that the worktable 3 rotates, and when the output data of the measuring axis 5 obtained by the inertial group test equipment 6 is equal to the vertical calibration value, the worktable 3 stops rotating;

[0035] Remove the inertia group 4, rotate the inertia group 4 vertically 180° around the work surface 3, and then fix the inertia group 4 on the work surface 3;

[0036] The inner ring shaft surface of the dual-axis follow-up temperature-controlled turntable 1 is controlled to rotate by the dual-axis follow-up temperature-controlled turntable controller 9 to rotate the work table 3. When the output data of the added measurement axis 5 obtained by the inertial group test equipment 6 is equal to the vertical calibration value, the work table 3 stops rotating.

[0037] The beneficial effects of the present invention are at least:

[0038] The inertial group is fixed on the work surface for many times, and the horizontal and vertical (heading) errors of the work surface are measured by the inertial group, so as to complete the leveling and plumbing calibration of the dual-axis follow-up temperature-controlled turntable. This can solve the problem that the dual-axis follow-up temperature-controlled turntable cannot use a general level to calibrate the work surface leveling and plumbing, and improve the calibration accuracy of the inertial navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0040] Figure 1 A schematic diagram of a leveling and plumbness calibration system for a dual-axis follow-up temperature-controlled turntable provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0042] Figure 1 A schematic diagram of a leveling and plumbing calibration system for a dual-axis servo temperature-controlled turntable provided in an embodiment of the present invention, comprising: a dual-axis servo temperature-controlled turntable 1, a work surface 3, an inertial group 4, an inertial group test device 6, and a dual-axis servo temperature-controlled turntable controller 9;

[0043] Among them, an inertial group 4 is provided with an adding meter measuring shaft 5, the inertial group 4 is located on the work surface 3, and the work surface 3 is fixed on the inner ring shaft surface of the turntable in the double-axis follow-up temperature control turntable 1; the inner ring shaft surface of the turntable, the work surface 3, and the inertial group 4 are all inside the temperature box body of the double-axis follow-up temperature control turntable 1; the temperature box body is fixedly connected to the outer ring shaft of the double-axis follow-up temperature control turntable 1, and the temperature box body is also provided with a box door 2, and the inner ring shaft surface of the turntable is connected to the ring shaft motor in the double-axis follow-up temperature control turntable 1;

[0044] The dual-axis follow-up temperature control turntable controller 9 is located on one side of the dual-axis follow-up temperature control turntable 1 and is electrically connected to the dual-axis follow-up temperature control turntable 1 for controlling the dual-axis follow-up temperature control turntable 1; for example, controlling the power supply, servo, indexing, speed, temperature control, etc. of the dual-axis follow-up temperature control turntable 1.

[0045] The inertial group test equipment 6 is located on the other side of the dual-axis follow-up temperature-controlled turntable 1, and is electrically connected to the inertial group 4 through the dual-axis follow-up temperature-controlled turntable 1, and is used to control the inertial group 4; for example, to control the inertial group 4 to be powered on and work normally, and to monitor the output data of the meter measuring axis 5 in the inertial group 4.

[0046] In this embodiment, in order to further improve the calibration accuracy of the inertial navigation system, the accuracy of the additional measurement axis 5 is less than or equal to 10 arc seconds.

[0047] In one achievable manner, the inertial group 4 and the work table 3 , as well as the work table 3 and the inner ring shaft table of the turntable in the dual-axis follow-up temperature-controlled turntable 1 , are all fixedly connected by screws 8 .

[0048] In an implementable manner, the inertial group test equipment 6 and the dual-axis follow-up temperature-controlled turntable 1 , as well as the dual-axis follow-up temperature-controlled turntable 1 and the inertial group 4 are all connected via an inertial group test cable 7 .

[0049] In the embodiment of the present invention, the functions of each component are as follows:

[0050] Dual-axis follow-up temperature-controlled turntable 1: It can provide position, speed, temperature environment, etc., for inertial navigation temperature modeling calibration. Before calibration, turntable accuracy measurement, turntable north reference calibration, turntable level and heading calibration must be performed;

[0051] Door 2: It is a component of the temperature box of the dual-axis follow-up temperature control turntable. When opened, it is used to install the work surface, install the inertial navigation and inertial group products, and observe the product status and environmental status in the temperature box; when closed, it is used to seal the high and low temperature environment in the temperature box;

[0052] Working table 3: a part of the dual-axis follow-up temperature control turntable, fixed on the inner ring shaft table of the turntable in the dual-axis follow-up temperature control turntable 1, used to install the tested products such as inertial navigation, inertial group, etc.;

[0053] IUG4: Inertial measurement unit, inertial navigation, etc., used to measure and output navigation information such as angular rate and acceleration;

[0054] Acceleration measuring axis 5: It is an acceleration sensor inside the inertial group 4, used to collect the angle of the work surface 3;

[0055] The inertial group test equipment 6 is mainly composed of a DC power supply, a test computer, RS232, RS422 serial ports, test cables, etc. The inertial group test equipment 6 supplies power 4 to the inertial group 4 through the inertial group test cable 7, the conductive ring of the dual-axis servo temperature control turntable 1, and the inner ring shaft of the dual-axis servo temperature control turntable 1 to the inertial group 4, so that the inertial group 4 is powered on and works normally, and its input and output data are monitored, including the input and output data of the meter measurement axis 5;

[0056] Screw 8: used to fix the inertial assembly 4 on the work surface 3, and fix the work surface 3 on the inner ring shaft surface of the turntable in the double-axis follow-up temperature control turntable 1;

[0057] The dual-axis follow-up temperature control turntable controller 9 is used to control the power supply, servo, indexing, speed, temperature control, etc. of the dual-axis follow-up temperature control turntable 1.

[0058] Another embodiment of the present invention further provides a calibration method for the leveling and plumbing calibration system of the dual-axis follow-up temperature-controlled turntable provided by the present invention, the method comprising a horizontal calibration of the work surface 3 and a vertical (heading) calibration process of the work surface 3. The specific process is as follows:

[0059] (1) Horizontal calibration of the work surface 3:

[0060] Step 1, control the dual-axis follow-up temperature control turntable 1 to be powered off and disconnect the servo through the dual-axis follow-up temperature control turntable controller 9;

[0061] Step 2, open the door 2 of the thermostat body;

[0062] Step 3, install the inertia group 4 on the work surface 3 and tighten it with screws 8;

[0063] Step 4, connecting the inertial group test equipment 6 and the dual-axis follow-up temperature control turntable 1, and the dual-axis follow-up temperature control turntable 1 and the inertial group 4 through the inertial group test cable 7;

[0064] Step 5, closing the door 2 of the incubator body;

[0065] Step 6, controlling the inertial group 4 to be powered on and to work through the inertial group testing device 6;

[0066] Step 7, the dual-axis follow-up temperature control turntable controller 9 controls the dual-axis follow-up temperature control turntable 1 to be powered on, connects the servo, and rotates the inner ring shaft table of the dual-axis follow-up temperature control turntable 1 to make the work table 3 return to zero level;

[0067] Step 8, obtaining output data of the measuring axis 5 through the inertial group testing device 6, wherein the output data is the current first angle value A of the work surface 3;

[0068] Step 9, controlling the dual-axis follow-up temperature control turntable 1 to be powered off and disconnecting the servo through the dual-axis follow-up temperature control turntable controller 9;

[0069] Step 10, remove the inertia group 4, rotate the inertia group 4 vertically 180 degrees around the work surface 3, and then fix the inertia group 4 on the work surface 3 and tighten it with screws 8;

[0070] Step 11, the dual-axis follow-up temperature control turntable controller 9 controls the dual-axis follow-up temperature control turntable 1 to be powered on, connects the servo, and rotates the inner ring shaft table of the dual-axis follow-up temperature control turntable 1 to make the work table 3 return to zero level;

[0071] Step 12, obtaining output data of the measuring axis 5 through the inertial group testing device 6, wherein the output data is the current second angle value B of the worktable 3;

[0072] Step 13, determine the horizontal calibration value C through the inertial group test device 6, and store the horizontal calibration value C in the dual-axis follow-up temperature control turntable controller 9, wherein the horizontal calibration value = (first angle value A + second angle value B) / 2;

[0073] Step 14, the inner ring shaft table of the dual-axis follow-up temperature-controlled turntable 1 is controlled to rotate by the dual-axis follow-up temperature-controlled turntable controller 9 again, so that the work table 3 rotates; when the output data of the added measurement axis 5 obtained by the inertial group test equipment 6 is equal to the horizontal calibration value C, the work table 3 stops rotating;

[0074] Step 15, remove the inertia group 4, rotate the inertia group 4 vertically 180 degrees around the work surface 3, and then fix the inertia group 4 on the work surface 3 and tighten it with screws 8;

[0075] Step 16, controlling the inner ring shaft table of the dual-axis follow-up temperature-controlled turntable 1 to rotate by the dual-axis follow-up temperature-controlled turntable controller 9, so that the worktable 3 rotates; when the output data of the added measurement axis 5 obtained by the inertial group test equipment 6 is equal to the horizontal calibration value C, the worktable 3 stops rotating;

[0076] At this point, the level calibration of the work surface 3 is completed.

[0077] (2) Vertical (heading) calibration of work surface 3:

[0078] Step 1, control the dual-axis follow-up temperature control turntable 1 to be powered off and disconnect the servo through the dual-axis follow-up temperature control turntable controller 9;

[0079] Step 2, open the door 2 of the thermostat body;

[0080] Step 3, install the inertia group 4 on the work surface 3 and tighten it with screws 8;

[0081] Step 4, connecting the inertial group test equipment 6 and the dual-axis follow-up temperature control turntable 1, and the dual-axis follow-up temperature control turntable 1 and the inertial group 4 through the inertial group test cable 7;

[0082] Step 5, closing the door 2 of the incubator body;

[0083] Step 6, controlling the inertial group 4 to be powered on and to work through the inertial group testing device 6;

[0084] Step 7, the dual-axis follow-up temperature control turntable controller 9 controls the dual-axis follow-up temperature control turntable 1 to be powered on, connects the servo, and rotates the inner ring shaft table of the dual-axis follow-up temperature control turntable 1 to make the working table 3 perpendicular to the horizontal plane;

[0085] Step 8, obtaining output data of the measuring axis 5 through the inertial group testing device 6, wherein the output data is the current third angle value M of the work surface 3;

[0086] Step 9, controlling the dual-axis follow-up temperature control turntable 1 to be powered off and disconnecting the servo through the dual-axis follow-up temperature control turntable controller 9;

[0087] Step 10, remove the inertia group 4, rotate the inertia group 4 vertically 180 degrees around the work surface 3, and then fix the inertia group 4 on the work surface 3 and tighten it with screws 8;

[0088] Step 11, the dual-axis follow-up temperature control turntable controller 9 controls the dual-axis follow-up temperature control turntable 1 to be powered on, connects the servo, and rotates the inner ring shaft table of the dual-axis follow-up temperature control turntable 1 to make the working table 3 perpendicular to the horizontal plane;

[0089] Step 12, obtaining output data of the measuring axis 5 through the inertial group testing device 6, wherein the output data is the current fourth angle value N of the worktable 3;

[0090] Step 13, determine the vertical calibration value L through the inertial group test device 6, and store the vertical calibration value L in the dual-axis follow-up temperature control turntable controller 9, wherein the vertical calibration value L=(third angle value M+fourth angle value N) / 2;

[0091] Step 14, the inner ring shaft table of the dual-axis follow-up temperature-controlled turntable 1 is controlled to rotate by the dual-axis follow-up temperature-controlled turntable controller 9 again, so that the work table 3 rotates, and when the output data of the added measurement axis 5 obtained by the inertial group test equipment 6 is equal to the vertical calibration value L, the work table 3 stops rotating;

[0092] Step 15, remove the inertia group 4, rotate the inertia group 4 vertically 180 degrees around the work surface 3, and then fix the inertia group 4 on the work surface 3 and tighten it with screws 8;

[0093] Step 16, the inner ring shaft table of the dual-axis follow-up temperature-controlled turntable 1 is controlled to rotate by the dual-axis follow-up temperature-controlled turntable controller 9, so that the worktable 3 rotates, and when the output data of the added measurement axis 5 obtained by the inertial group test equipment 6 is equal to the vertical calibration value L, the worktable 3 stops rotating;

[0094] At this point, the vertical (heading) calibration of the work surface 3 is completed.

[0095] The above only expresses the implementation methods of the present application, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. In addition, the parts that are not detailed in this application are all conventional technologies.

Claims

1. A leveling and plumbing calibration system for a dual-axis follow-up temperature-controlled turntable, characterized in that: include: Double-axis follow-up temperature control turntable 1, work surface 3, inertial group 4, inertial group testing equipment 6, double-axis follow-up temperature control turntable controller 9; An inertial measuring axis is arranged in the inertial group, the inertial group is located on the work surface, and the work surface is fixed on the inner ring shaft surface of the turntable in the dual-axis follow-up temperature control turntable; the inner ring shaft surface of the turntable, the work surface, and the inertial group are all inside the temperature box body of the dual-axis follow-up temperature control turntable; the temperature box body is fixedly connected to the outer ring shaft of the dual-axis follow-up temperature control turntable, and the temperature box body is also provided with a box door, and the inner ring shaft surface of the turntable is connected to the ring shaft motor in the dual-axis follow-up temperature control turntable; The dual-axis follow-up temperature control turntable controller is located on one side of the dual-axis follow-up temperature control turntable and is electrically connected to the dual-axis follow-up temperature control turntable for controlling the dual-axis follow-up temperature control turntable; The inertial group test equipment is located on the other side of the dual-axis follow-up temperature-controlled turntable, and is electrically connected to the inertial group through the dual-axis follow-up temperature-controlled turntable for controlling the inertial group.

2. The system according to claim 1, characterized in that The dual-axis follow-up temperature control turntable controller is used to control the power supply, servo, indexing, speed and temperature control of the dual-axis follow-up temperature control turntable.

3. The system according to claim 1, characterized in that The inertial group test equipment is used to control the inertial group to be powered on and work normally, and to monitor the output data of the measuring axis in the inertial group.

4. The system according to claim 1, characterized in that The accuracy of the measuring axis is less than or equal to 10 arc seconds.

5. The system according to claim 1, characterized in that The inertial group and the work table, the work table 3 and the inner ring shaft table of the turntable in the double-axis follow-up temperature control turntable are all fixedly connected by screws.

6. A method for leveling and plumbing a dual-axis follow-up temperature-controlled turntable, characterized in that: A leveling and plumbing calibration system for a dual-axis follow-up temperature-controlled turntable according to any one of claims 1 to 5, the method comprising: horizontal calibration and vertical calibration of a work surface, The horizontal calibration process is as follows: The inner ring shaft table of the dual-axis follow-up temperature control turntable is controlled to rotate by the dual-axis follow-up temperature control turntable controller, so that the work table returns to zero level; Obtain the current first angle value of the worktable collected by the measuring axis through the inertial group test equipment; After the inertial group is rotated 180° vertically around the work surface, the inner ring shaft of the turntable of the double-axis follow-up temperature control turntable is controlled by the double-axis follow-up temperature control turntable controller to rotate, so that the work surface returns to zero level; Obtain the current second angle value of the worktable collected by the measuring axis through the inertial group test equipment; Complete horizontal calibration of the work surface based on the first angle value and the second angle value; The vertical calibration process is: The inner ring shaft table of the double-axis follow-up temperature control turntable is controlled to rotate by the double-axis follow-up temperature control turntable controller, so that the working table is perpendicular to the horizontal plane; Obtain the current third angle value of the worktable collected by the measuring axis through the inertial group test equipment; After the inertial group is rotated 180° vertically around the work surface, the inner ring shaft of the turntable of the double-axis follow-up temperature control turntable is controlled by the double-axis follow-up temperature control turntable controller to rotate so that the work surface is perpendicular to the horizontal plane; Obtain the current fourth angle value of the worktable collected by the measuring axis through the inertial group test equipment; The vertical calibration of the work surface is completed based on the third angle value and the fourth angle value.

7. The method according to claim 6, characterized in that The horizontal calibration of the work surface is completed based on the first angle value and the second angle value, including: Determine a horizontal calibration value through an inertial group test device, and store the horizontal calibration value in a dual-axis follow-up temperature control turntable controller, wherein the horizontal calibration value=(first angle value+second angle value) / 2; The inner ring shaft table of the dual-axis follow-up temperature-controlled turntable is controlled to rotate by the dual-axis follow-up temperature-controlled turntable controller, so that the working table rotates; when the output data of the measuring axis obtained by the inertial group test equipment is equal to the horizontal calibration value, the working table stops rotating; Remove the inertia group, rotate it vertically 180° around the work surface, and then fix it on the work surface; The inner ring shaft table of the dual-axis follow-up temperature-controlled turntable is controlled to rotate by the dual-axis follow-up temperature-controlled turntable controller to rotate the worktable; when the output data of the added measurement axis obtained by the inertial group test equipment is equal to the horizontal calibration value, the worktable stops rotating.

8. The method according to claim 6, characterized in that The vertical calibration of the work surface is completed based on the third angle value and the fourth angle value, including: Determine a vertical calibration value through an inertial group test device, and store the vertical calibration value in a dual-axis follow-up temperature control turntable controller, wherein the vertical calibration value=(third angle value+fourth angle value) / 2; The inner ring shaft table of the dual-axis follow-up temperature-controlled turntable is controlled to rotate by the dual-axis follow-up temperature-controlled turntable controller, so that the working table rotates, and when the output data of the measuring axis obtained by the inertial group test equipment is equal to the vertical calibration value, the working table stops rotating; Remove the inertia group, rotate it vertically 180° around the work surface, and then fix it on the work surface; The inner ring shaft table of the dual-axis follow-up temperature-controlled turntable is controlled to rotate by the dual-axis follow-up temperature-controlled turntable controller to rotate the worktable. When the output data of the added measurement axis obtained by the inertial group test equipment is equal to the vertical calibration value, the worktable stops rotating.

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