High-precision roll angle measuring method and system
By employing a dual-module measurement architecture and an environmental parameter compensation method for roll angle measurement, the accuracy and reliability issues of the dual collimated beam method under complex working conditions are resolved, achieving high-precision roll angle measurement applicable to fields such as aerospace, navigation, and telemetry.
Patent Information
- Application Number
- CN202512024091.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-30
- Publication Date
- 2026-02-17
AI Technical Summary
In existing technologies, the double collimated beam method is difficult to meet engineering requirements in terms of roll angle measurement accuracy and reliability, especially in situations with rapid angle changes or strong vibrations, and the measurement error is relatively large.
It adopts a dual collimated beam and self-collimated tilt angle dual-module measurement architecture, and combines environmental parameters such as temperature, humidity, vibration, pressure, and carbon dioxide concentration for error compensation. Through self-error calibration and environmental error modeling, it uses a roll angle measurement model connected to self-attention and linear attention modules and residuals to correct and fuse data, replacing some high-precision hardware sensors.
It effectively improves the accuracy and stability of roll angle measurement, adapts to high-speed, strong vibration and drastic temperature and humidity changes, realizes automated error correction and model optimization, and reduces hardware cost requirements.
Smart Images
Figure CN121540112A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of optical measurement, more particularly, to a high-precision roll angle measurement method and system. BACKGROUND
[0002] At present, in the fields of high-end equipment manufacturing such as aerospace, navigation and control, and precision engineering measurement, roll angle, as a basic component of three-dimensional attitude, directly affects the performance of core tasks such as aircraft attitude adjustment, seeker target locking, and remote sensing device attitude solving.
[0003] In the prior art, the double-collimated beam method is widely considered as one of the most optimal roll angle measurement methods. By analyzing the relative deflection of two collimated laser beams, the roll angle of the target can be calculated with high precision, which has very high resolution and instantaneous response capability. However, in long-distance measurement, the accuracy of the double-collimated beam method is severely affected, especially in situations where the angle changes quickly or the vibration is strong, the accuracy and reliability are difficult to meet the stringent engineering requirements, and the measurement error is large.
[0004] Therefore, how to provide a roll angle measurement method that can solve the above problems is a problem that those skilled in the art need to solve. SUMMARY
[0005] Therefore, the present application provides a high-precision roll angle measurement method and system, which replaces part of the high-precision, high-cost hardware sensor requirements through error compensation and data fusion, and can effectively improve the measurement accuracy.
[0006] In order to achieve the above purpose, the present application adopts the following technical solutions: A high-precision roll angle measurement method, comprising the following steps: A double-collimated beam measurement module, a self-collimating instrument horizontal inclination angle measurement module, and an environmental parameter measurement module are constructed respectively; The double-collimated beam measurement module, the self-collimating instrument horizontal inclination angle measurement module, and the environmental parameter measurement module are used to measure corresponding first roll angle data, second roll angle data, and environmental data respectively; The first roll angle data and the second roll angle data are preprocessed and error estimated in combination with the environmental parameters, and a corresponding to-be-processed sequence is generated according to the data processing result; A roll angle measurement model is constructed, and the to-be-processed sequence is input into the roll angle measurement model for processing to obtain a corresponding roll angle measurement result.
[0007] Preferably, the environmental parameter measurement module comprises a temperature and humidity measurement unit, a vibration measurement unit, a pressure measurement unit, and a carbon dioxide content measurement unit, which correspond to the temperature and humidity difference data, the vibration difference data, the pressure difference data, and the carbon dioxide concentration difference data of the double-collimated light beam measurement module, the autocollimator horizontal inclination measurement module.
[0008] Preferably, the specific processing procedure for generating the corresponding to-be-processed sequence comprises: preprocessing the first roll angle data, the second roll angle data, the temperature and humidity difference data, the vibration difference data, the pressure difference data, and the carbon dioxide concentration difference data; respectively performing error analysis on the double-collimated light beam measurement module and the autocollimator horizontal inclination measurement module, correcting the first roll angle data and the second roll angle data according to the error analysis results to obtain new first roll angle data and new second roll angle data; generating the corresponding to-be-processed sequence by using the new first roll angle data, the new second roll angle data, the temperature and humidity difference data, the vibration difference data, the pressure difference data, and the carbon dioxide concentration difference data.
[0009] Preferably, the specific processing procedure for respectively performing error analysis on the double-collimated light beam measurement module and the autocollimator horizontal inclination measurement module comprises: respectively calibrating the original errors of the double-collimated light beam measurement module and the autocollimator horizontal inclination measurement module to determine the first self-error and the second self-error corresponding to the double-collimated light beam measurement module and the autocollimator horizontal inclination measurement module; respectively establishing a first environmental error model and a second environmental error model between the first roll angle data and the second roll angle data and the temperature and humidity difference data, the vibration difference data, the pressure difference data, and the carbon dioxide concentration difference data, and determining the first environmental error and the second environmental error according to the first environmental error model and the second environmental error model; fusing the first self-error and the first environmental error to obtain a corresponding first comprehensive error, and fusing the second self-error and the second environmental error to obtain a corresponding second comprehensive error; correcting the first roll angle data and the second roll angle data in combination with the first comprehensive error and the second comprehensive error to obtain new first roll angle data and new second roll angle data.
[0010] Preferably, the preprocessing procedure at least comprises outlier rejection, filtering, and normalization processing. Preferably, the roll angle measurement model comprises an input layer, a hidden layer, a connection layer, and an output layer connected in sequence.
[0011] Preferably, the connection layer comprises an input module, a self-attention module and a linear attention module connected in sequence, and the connection layer adopts a residual connection.
[0012] Preferably, the method further comprises: obtaining historical first roll angle data, historical second roll angle data, historical first comprehensive error, historical second comprehensive error, and forming corresponding data sets; dividing the data sets into a training set and a test set, and respectively training and testing the roll angle measurement model using the training set and the test set.
[0013] Preferably, the training process of the roll angle measurement model adopts an incremental training method.
[0014] The application also provides a high-precision roll angle measurement system, comprising: a measurement device arrangement module for respectively constructing a double-collimated light beam measurement module, a self-collimation inclinometer horizontal inclination measurement module and an environmental parameter measurement module; a measurement module for measuring corresponding first roll angle data, second roll angle data and environmental data through the double-collimated light beam measurement module, the self-collimation inclinometer horizontal inclination measurement module and the environmental parameter measurement module; an analysis module for pre-processing and error estimation of the first roll angle data and the second roll angle data in combination with the environmental parameters, and generating a corresponding to-be-processed sequence according to the data processing result; a processing module for constructing a roll angle measurement model and inputting the to-be-processed sequence into the roll angle measurement model for processing to obtain a corresponding roll angle measurement result According to the above technical solution, compared with the prior art, the application provides a high-precision roll angle measurement method and system, which has the following beneficial effects: 1. The application adopts a double-collimated light beam and a self-collimation inclination double-module measurement architecture, combines multi-dimensional environmental parameters such as temperature, humidity, vibration, pressure and carbon dioxide concentration to realize error compensation, and through self-error calibration and environmental error modeling, accurately quantifies the comprehensive error of the double module and completes data correction, effectively offsets the influence of mechanical installation deviation, environmental interference and other factors on roll angle measurement. 2. The roll angle measurement model provided by the application introduces self-attention, linear attention modules and residual connections, can automatically focus on high-reliability measurement data and weaken interference data, solves the problem of poor adaptability of traditional fusion models to complex working conditions, and greatly improves the measurement accuracy and stability under high-speed, strong vibration, temperature and humidity changes and other working conditions.
[0015] 3、The application is based on historical measurement data and error data to construct a special data set, and adopts an incremental training method, so that the historical data continuously collected during the operation of the device can be used to iteratively optimize the roll angle measurement model, ensure that the model performance is highly matched with the actual measurement scene, and improve the credibility of the model prediction results.
[0016] 4、The method provided by the application can realize automatic error correction and model optimization, replace part of the demand for high-precision and high-cost hardware sensors through error compensation and data fusion, improve the usability of the system, and adapt to the automatic production demand of industrial scenes such as numerical control machine tools. BRIEF DESCRIPTION OF DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.
[0018] Figure 1 The overall flowchart of the high-precision roll angle measurement method provided by the present application is shown in the figure. Figure 2 The structural principle diagram of the dual-collimated beam measurement module provided by the embodiment of the present application is shown in the figure. Figure 3 The structural principle diagram of the horizontal inclination angle measurement module of the autocollimator measurement instrument provided by the embodiment of the present application is shown in the figure. Figure 4 The structural principle diagram of the high-precision roll angle measurement system provided by the present application is shown in the figure. DETAILED DESCRIPTION
[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.
[0020] Referring to Figure 1 The embodiment of the present application discloses a high-precision roll angle measurement method, comprising the following steps: A dual-collimated beam measurement module, a horizontal inclination angle measurement module of an autocollimator measurement instrument, and an environment parameter measurement module are respectively constructed; First roll angle data, second roll angle data, and environment data are respectively measured by the dual-collimated beam measurement module, the horizontal inclination angle measurement module of the autocollimator measurement instrument, and the environment parameter measurement module. Preprocess the first roll angle data and the second roll angle data in combination with the environmental parameters and error estimation, and generate a corresponding to-be-processed sequence according to the data processing result; A roll angle measurement model is constructed, and the to-be-processed sequence is input into the roll angle measurement model for processing to obtain a corresponding roll angle measurement result.
[0021] Specifically, the structure principle diagram of the double-collimated beam measurement module is shown in Figure 2 As shown in the figure, it includes a semiconductor laser 1, a first beam splitter 3, a first right-angle mirror 9, a second beam splitter 10, a first four-quadrant detector 11, a second four-quadrant detector 12, a second right-angle mirror 13, a first corner cube mirror 14, and a second corner cube mirror 15. The first corner cube mirror 14 and the second corner cube mirror 15 are fixed ends 25, and the remaining devices are moving ends 26. When the measurement device is in use, the fixed ends 25 are fixedly installed at a fixed position of the shaft to be measured of the numerical control machine tool and do not move, and the moving ends 26 are installed on the sliding table of the shaft to be measured of the numerical control machine tool and move with the sliding table. The self-collimation measuring instrument horizontal inclination measurement module is shown in Figure 3 As shown in the figure, it includes a semiconductor laser 1, a position-sensitive detector 2, a first beam splitter 3, a focusing lens 4, a polarization beam splitter 5, a quarter-wave plate 6, a wave plate holder 7, and an oil tank 8. Based on the position-sensitive detector and the liquid light reflection, a second roll angle measurement value LevelTheta is obtained. The self-collimation measuring inclination measurement module is installed on the sliding table of the shaft to be measured of the numerical control machine tool and moves with the sliding table, so it is not affected by distance changes.
[0022] In one specific embodiment, the environmental parameter measurement module includes a temperature and humidity measurement unit, a vibration measurement unit, a pressure measurement unit, and a carbon dioxide content measurement unit, which measure temperature and humidity difference data, vibration difference data, pressure difference data, and carbon dioxide concentration difference data of the double-collimated beam measurement module and the self-collimation measuring instrument horizontal inclination measurement module. The temperature and humidity measurement unit can measure by a temperature and humidity sensor, the pressure measurement unit can measure by a pressure sensor, the carbon dioxide content measurement unit can measure by a carbon dioxide content sensor, and the vibration measurement unit can measure by a related vibration sensor.
[0023] In one specific embodiment, the specific processing process for generating a corresponding to-be-processed sequence includes: Preprocess the first roll angle data and the second roll angle data, the temperature and humidity difference data, the vibration difference data, the pressure difference data, and the carbon dioxide concentration difference data; Error analysis was performed on the dual collimating beam measurement module and the autocollimating measuring instrument horizontal tilt angle measurement module respectively. Based on the error analysis results, the first roll angle data and the second roll angle data were corrected to obtain new first roll angle data and second roll angle data. The corresponding sequence to be processed is generated using the new first roll angle data, second roll angle data, temperature and humidity difference data, vibration difference data, pressure difference data, and carbon dioxide concentration difference data.
[0024] In a specific embodiment, the specific processing steps for error analysis of the dual collimating beam measurement module and the autocollimating measuring instrument horizontal tilt angle measurement module include: The original errors of the dual collimating beam measurement module and the autocollimating instrument horizontal tilt angle measurement module are calibrated respectively to determine the first and second inherent errors of the dual collimating beam measurement module and the autocollimating instrument horizontal tilt angle measurement module. A first environmental error model and a second environmental error model are established between the first roll angle data, the second roll angle data and the temperature and humidity difference data, vibration difference data, pressure difference data and carbon dioxide concentration difference data, respectively. The corresponding first environmental error and second environmental error are determined according to the first environmental error model and the second environmental error model. The process of establishing the first environmental error model and the second environmental error model can be a multiple linear regression equation. The first intrinsic error and the first environmental error are fused to obtain the corresponding first comprehensive error. At the same time, the second intrinsic error and the second environmental error are fused to obtain the corresponding second comprehensive error. The error fusion method can be weighted fusion. The first roll angle data and the second roll angle data are corrected by combining the first comprehensive error and the second comprehensive error to obtain new first roll angle data and second roll angle data.
[0025] In one specific embodiment, the preprocessing process includes, but is not limited to: outlier removal, filtering, and normalization. See Figure 4 As shown, in a specific embodiment, the roll angle measurement model includes an input layer, a hidden layer, a connection layer, and an output layer connected in sequence.
[0026] In one specific embodiment, the connection layer includes an input module, a self-attention module, and a linear attention module connected in sequence, and the connection layer adopts residual connection.
[0027] In one specific embodiment, it also includes: Acquire the historical first roll angle data, the historical second roll angle data, the historical first comprehensive error, and the historical second comprehensive error, and form the corresponding dataset; The dataset is divided into a training set and a test set, and the roll angle measurement model is trained and tested using the training set and the test set respectively.
[0028] In one specific embodiment, the roll angle measurement model is trained using an incremental training method.
[0029] See Figure 4 As shown, this embodiment of the invention also provides a system utilizing the high-precision roll angle measurement method described in any of the above embodiments, comprising: The measurement device layout module is used to construct the dual collimating beam measurement module, the autocollimating measuring instrument horizontal tilt angle measurement module, and the environmental parameter measurement module, respectively. The measurement module is used to measure the corresponding first roll angle data, second roll angle data, and environmental data through the dual collimating beam measurement module, the autocollimating measuring instrument horizontal tilt angle measurement module, and the environmental parameter measurement module, respectively. The analysis module is used to preprocess and estimate the error of the first roll angle data and the second roll angle data in combination with the environmental parameters, and generate the corresponding sequence to be processed based on the data processing results; The processing module is used to construct a roll angle measurement model and input the sequence to be processed into the roll angle measurement model for processing to obtain the corresponding roll angle measurement result. The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.
[0030] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A high-precision roll angle measurement method, characterized by, The method comprises the following steps: respectively constructing a double-collimated light beam measurement module, a self-collimation measurement instrument horizontal inclination angle measurement module, and an environmental parameter measurement module; respectively measuring corresponding first roll angle data, second roll angle data, and environmental data through the double-collimated light beam measurement module, the self-collimation measurement instrument horizontal inclination angle measurement module, and the environmental parameter measurement module; preprocessing and error estimation of the first roll angle data and the second roll angle data in combination with the environmental parameters, and generating a corresponding to-be-processed sequence according to a data processing result; constructing a roll angle measurement model, and inputting the to-be-processed sequence into the roll angle measurement model for processing to obtain a corresponding roll angle measurement result.
2. The high-precision roll angle measurement method according to claim 1, characterized in that, The environmental parameter measurement module comprises a temperature and humidity measurement unit, a vibration measurement unit, a pressure measurement unit, and a carbon dioxide content measurement unit, which correspond to temperature and humidity difference data, vibration difference data, pressure difference data, and carbon dioxide concentration difference data of the double-collimated light beam measurement module and the self-collimation measurement instrument horizontal inclination angle measurement module.
3. The high-precision roll angle measurement method according to claim 2, characterized in that, The specific processing process of generating the corresponding to-be-processed sequence comprises: preprocessing the first roll angle data, the second roll angle data, the temperature and humidity difference data, the vibration difference data, the pressure difference data, and the carbon dioxide concentration difference data; respectively performing error analysis on the double-collimated light beam measurement module and the self-collimation measurement instrument horizontal inclination angle measurement module, correcting the first roll angle data and the second roll angle data according to an error analysis result to obtain new first roll angle data and new second roll angle data; generating the corresponding to-be-processed sequence by using the new first roll angle data, the new second roll angle data, the temperature and humidity difference data, the vibration difference data, the pressure difference data, and the carbon dioxide concentration difference data.
4. The high-precision roll angle measurement method according to claim 3, characterized in that, The specific processing process of respectively performing error analysis on the double-collimated light beam measurement module and the self-collimation measurement instrument horizontal inclination angle measurement module comprises: respectively calibrating original errors of the double-collimated light beam measurement module and the self-collimation measurement instrument horizontal inclination angle measurement module to determine corresponding first self-owned errors and second self-owned errors of the double-collimated light beam measurement module and the self-collimation measurement instrument horizontal inclination angle measurement module; respectively establishing a first environmental error model and a second environmental error model between the first roll angle data, the second roll angle data, and the temperature and humidity difference data, the vibration difference data, the pressure difference data, and the carbon dioxide concentration difference data, and determining corresponding first environmental errors and second environmental errors according to the first environmental error model and the second environmental error model; fusing the first self-owned errors and the first environmental errors to obtain corresponding first comprehensive errors, and fusing the second self-owned errors and the second environmental errors to obtain corresponding second comprehensive errors; correcting the first roll angle data and the second roll angle data in combination with the first comprehensive errors and the second comprehensive errors to obtain new first roll angle data and new second roll angle data.
5. The high-precision roll angle measurement method of claim 3, wherein, The preprocessing process at least comprises outlier rejection, filtering, and normalization processing.
6. The high-precision roll angle measurement method of claim 1, wherein The roll angle measurement model comprises an input layer, a hidden layer, a connection layer, and an output layer connected in sequence.
7. The high-precision roll angle measurement method according to claim 6, characterized in that, The connection layer comprises an input module, a self-attention module and a linear attention module connected in sequence, and the connection layer adopts a residual connection.
8. The high-precision roll angle measurement method of claim 6, wherein, Also comprising: Obtain historical first roll angle data, historical second roll angle data, historical first comprehensive error, historical second comprehensive error, and form corresponding data sets; Divide the data sets into training sets and test sets, and respectively train and test the roll angle measurement model using the training sets and test sets.
9. The high-precision roll angle measurement method of claim 8, wherein, The training process of the roll angle measurement model adopts an incremental training method.
10. A system for utilizing the high-precision roll angle measurement method according to any one of claims 1 to 9, characterized in that Comprising: A measurement device arrangement module for respectively constructing a double-collimated light beam measurement module, a self-collimation measurement instrument horizontal inclination angle measurement module and an environmental parameter measurement module; A measurement module for measuring corresponding first roll angle data, second roll angle data and environmental data through the double-collimated light beam measurement module, the self-collimation measurement instrument horizontal inclination angle measurement module and the environmental parameter measurement module; An analysis module for pre-processing and error estimation of the first roll angle data and the second roll angle data in combination with the environmental parameters, and generating a corresponding to-be-processed sequence according to the data processing result; A processing module for constructing a roll angle measurement model and inputting the to-be-processed sequence into the roll angle measurement model for processing to obtain a corresponding roll angle measurement result.