CN114184168A - Real-time tilt compensation method for optical measurement equipment - Google Patents
Real-time tilt compensation method for optical measurement equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention provides a real-time tilt compensation method for optical measurement equipment, wherein an inclination angle sensor is arranged in the optical measurement equipment, and the method comprises the following steps: s1, correcting the tilt angle sensor; s2, calculating the vertical axis inclination amount of the tilt sensor according to the data detected by the tilt sensor; and S3, correcting the error of the vertical axis inclination amount. The shafting error of the optical measurement equipment is accurately obtained in real time, and the problem of vertical shaft inclination dynamic disturbance is solved through real-time error compensation, so that high-precision non-landing measurement of the mobile vehicle-mounted optical measurement equipment is realized, and the angle measurement precision of the optical measurement equipment is improved.
Description
Technical Field
The invention relates to the technical field of photoelectric measurement and control, in particular to a real-time tilt compensation method for optical measurement equipment.
Background
Most of the existing optical measurement systems for measurement are fixed station type (and some of the existing optical measurement systems can be used in vehicle type after being leveled), and with the continuous improvement of measurement and control technology level, the mobile vehicle-mounted optical measurement systems are widely applied to modern shooting range measurement. When the movable station works, the vehicle-mounted platform randomly stops on various pavements, can meet the requirement of real-time measurement and tracking at any place and any time, has strong maneuverability, can improve the quick unfolding capability of equipment, and has great superiority. When the vehicle-mounted optical measurement system works, a vehicle-mounted chassis serves as a measurement base, and certain inclination errors of the vertical shaft can be caused by vehicle body deformation, working speed and acceleration disturbance of the theodolite, even ground subsidence and the like.
The measurement accuracy of shafting errors (including vertical axis errors, horizontal axis errors and collimation axis errors) of equipment measurement systems such as a vehicle-mounted optical measurement system and the like and the accuracy of a correction algorithm are directly related to the angle measurement accuracy of the measurement equipment, so that to improve the angle measurement accuracy of the measurement equipment, the shafting errors must be accurately measured firstly, and then an accurate error correction algorithm is adopted. Most of the existing error correction algorithms do not adopt real-time dynamic data, and the dynamic data adopted individually is only based on the adjustment parameters of the leveling supporting legs, so that the requirement of high-precision measurement cannot be met when the battle environment is complex and external interference factors are more.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a real-time tilt compensation method for an optical measurement device, which accurately obtains a shafting error of the optical measurement device in real time when a vehicle-mounted optical measurement system is in maneuvering operation, and solves a problem of vertical axis tilt dynamic disturbance through real-time error compensation, thereby achieving high-precision non-landing measurement of a mobile vehicle-mounted optical measurement device and improving accuracy of an angle measurement of the optical measurement device.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
the invention provides a real-time tilt compensation method for optical measurement equipment, wherein an inclination angle sensor is arranged in the optical measurement equipment, and the method comprises the following steps:
s1, correcting the tilt angle sensor;
s2, calculating the vertical axis inclination amount of the inclination angle sensor according to the data detected by the inclination angle sensor;
and S3, correcting the error of the vertical axis inclination amount.
Preferably, step S1 includes the following sub-steps:
s1.1, adjusting the angle and the position of optical measurement equipment, and initializing a tilt sensor to enable output values of an X axis and a Y axis of the tilt sensor to be zero;
s1.2, lifting the end b of the experiment platform, which is parallel to the X axis, and tilting the end b forward along the Y axis by 20', wherein the output of the Y axis is zero; and lifting one end of the experiment platform parallel to the Y axis, positively inclining 30' along the X axis, initializing the tilt angle sensor, and enabling the output of the X axis to be zero.
Preferably, the calculation process of the vertical axis inclination amount is as follows:
assuming a point M (0,1,0) on OZ, the coordinates after two rotation matrix operations are:
wherein α is an inclination amount in the OX axis direction, and β is an inclination amount in the OY axis direction;
then the vertical axis inclination is the angle between the rotated Z' axis and the original Z axis, and can be calculated as follows:
wherein I is the vertical axis tilt.
Preferably, the formula for correcting the vertical axis inclination amount is:
wherein, I1Error of inclination of the horizontal axis as error, I2Angle measurement errors which are the height angle measurement errors; a. theHAzimuth angle of the inclination of the vertical axis, AMAzimuth angle of target direction, EMThe elevation angle of the target direction. Delta A1Correction of orientation for vertical axis, Δ E1The amount of pitch correction for the vertical axis.
Compared with the prior art, the method and the device accurately obtain the shafting error of the optical measurement equipment in real time when the vehicle-mounted optical measurement system works flexibly, and solve the problem of vertical shaft inclination dynamic disturbance through real-time error compensation, thereby realizing high-precision non-landing measurement of the mobile vehicle-mounted optical measurement equipment and improving the angle measurement precision of the optical measurement equipment.
Drawings
Fig. 1 is a schematic structural diagram of a photometric device according to an embodiment of the present invention.
Fig. 2 is a flowchart of a real-time tilt compensation method for a photometric device according to an embodiment of the present invention.
Fig. 3 is a calibration diagram of a tilt angle sensor of the real-time tilt compensation method for the optical measurement device according to the embodiment of the present invention.
Fig. 4 is a schematic diagram of error measurement of a tilt sensor of a real-time tilt compensation method for a photometric device according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a relationship between a vertical axis tilt error and a measured angle of a real-time tilt compensation method for a photometric device according to an embodiment of the present invention.
Wherein the reference numerals include: a tilt sensor 1, a coordinate axis 1-1 and a vertical axis 1-2.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same reference numerals are used for the same blocks. In the case of the same reference numerals, their names and functions are also the same. Therefore, detailed description thereof will not be repeated.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
Fig. 1 shows a photometric device structure of an in-vehicle photometric system provided according to an embodiment of the present invention.
As shown in fig. 1, a tilt sensor 1 is installed inside a light measurement device provided in an embodiment of the present invention, the tilt sensor 1 is installed above the light measurement device, the tilt sensor 1 is located on a vertical axis 1-2 of the light measurement device and fixed by a screw, and the tilt sensor is connected to a control processing system by a data line and can be used after being calibrated.
The coordinate axes 1-1 of the tilt sensor 1 include an X axis and a Y axis.
Fig. 2 shows a flow of the on-vehicle photometric system provided according to the embodiment of the present invention.
As shown in fig. 2, the present invention relates to a real-time tilt compensation method. The implementation of the tilt compensation correction comprises the following steps:
and S1, correcting the tilt angle sensor.
Step S1 includes the following substeps:
and carrying out initialization debugging and output value testing on the tilt angle sensor, wherein the output values of the X axis and the Y axis of the tilt angle sensor at any position within the range of 0-360 degrees of azimuth angle are zero or close to zero.
Fig. 3 illustrates a calibration process of a tilt sensor of the on-board photometric system provided according to an embodiment of the present invention.
As shown in FIG. 3, the output angle of the tilt sensor X-axis is the rotation angle of the X-axis pointing to the horizontal around the Y-axis, and the output angle of the tilt sensor Y-axis is the rotation angle of the Y-axis pointing to the horizontal around the X-axis.
S1.1, manually adjusting the angle and the position of optical measurement equipment, and initializing a tilt sensor to enable the output values of an X axis and a Y axis of the tilt sensor to be zero (or close to zero);
s1.2, lifting the end b of the experiment platform, positively inclining the end b along the Y axis by 20', and keeping the Y axis output to be zero (or close to zero); the a end of the experimental platform is lifted, and is positively inclined by 30' along the X axis, the tilt angle sensor is initialized, and the X axis output is kept to be zero (or close to zero).
And S2, calculating the vertical axis inclination amount of the inclination angle sensor.
Fig. 4 shows an error measurement process of the tilt sensor of the on-vehicle photometric system provided according to the embodiment of the present invention.
As shown in fig. 4, there is a tilt amount α in the OX axis direction, corresponding to a rotation angle α around the X axis; the inclination amount beta exists in the OY axis direction, which is equivalent to the rotation angle beta around the Y axis;
assuming a point M (0,1,0) on OZ, the coordinates after two rotation matrix operations are:
the vertical axis is the angle between the rotated Z axis (Z') and the previous Z axis, and can be calculated by the angle between two vectors:
and if the vertical axis inclination amount is I:
and (4) inputting the measured values alpha and beta measured by the tilt angle sensor into the formula, and calculating the vertical axis inclination.
And S3, correcting and calculating the vertical axis inclination amount.
Fig. 5 shows a relationship between a vertical axis tilt error and a measured angle of the on-vehicle photometric system provided according to the embodiment of the present invention.
As shown in fig. 5, when OZ is a vertical line and OA is an actual vertical axis of the optical measurement system, then ═ AOZ is equal to I, OB is a vertical axis inclination direction, and its azimuth angle a is equal toH. M is a target with an azimuth angle AMHigh and low angles are EM。
And when no vertical axis inclination error exists, the vertical axis of the optical measurement equipment is parallel to the plumb line. The great circular arc drawn by the collimation axis (i.e. the main mirror optical axis of the photometric device) OM' along with the increase of the pitch angle is ZM. At this time, the sight axis is aimed at the space target position M, and the azimuth angle pointed by the encoder is AM。
When the vertical axis inclination error exists, the vertical axis OA of the electro-optic theodolite is not parallel to the plumb line. Arc of
Big circle and big circle
Intersecting at the point B, the vertical axis inclination direction is the direction OB points, and the azimuth angle is marked as AH. Vertical axis tilt error I ═ ZM。
Respectively making a great circle through the M points
And
passing through A and making great circle and perpendicular to
Crossing with A'. In the spherical triangle a ZAA', the spherical triangle,
the invention can decompose I into two components, i.e.
In the spherical right triangle Δ AZA ', the perpendicular to OA' made through the O point in the ZOM plane intersects the celestial sphere at K. If the visual axis of the photoelectric theodolite is aligned with the target, the zero position of the pitching encoder points not to the OM 'position but to the OK position, the azimuth angle also points to the OM' position, and the azimuth angle pointed by the encoder is marked as A1。
And recording the azimuth angle taking the < BOM' as the inclination direction of the target and the vertical axis as:
the sine relationship of the spherical right-angle triangle can be obtained as follows:
sinI1＝sinI·sin(AH-AM)，tgI1＝tgI·tg(AH-AM)。
I、I1、I2are small, so the power series formula according to trigonometric functions has:
I1the component is a horizontal axis tilt error resulting from a vertical axis tilt error;
I2the component is the elevation angle measurement error caused by the vertical axis tilt error.
A correction formula can be obtained:
wherein, Delta A1Correction of orientation for vertical axis, Δ E1The vertical axis pitch correction.
Therefore, the influence of the vertical axis error on the angle measurement can be corrected by substituting the vertical axis inclination amount I into the above correction formula.
Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not restrictive, and that various changes, modifications, substitutions and alterations can be made herein by those having ordinary skill in the art without departing from the scope of the present invention.
The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the scope of the claims of the present invention.
Claims (4)
1. A real-time tilt compensation method for optical measurement equipment is characterized in that a tilt angle sensor is installed in the optical measurement equipment, and the method comprises the following steps:
s1, correcting the tilt angle sensor;
s2, calculating the vertical axis inclination amount of the inclination angle sensor according to the data detected by the inclination angle sensor;
and S3, correcting the error of the vertical axis inclination amount.
2. The real-time tilt compensation method for a photometric device according to claim 1, wherein the step S1 includes the following substeps:
s1.1, adjusting the angle and the position of the optical measurement equipment, and initializing the tilt angle sensor to enable the output values of an X axis and a Y axis of the tilt angle sensor to be zero;
s1.2, lifting the end b of the experiment platform, which is parallel to the X axis, and tilting the end b forward along the Y axis by 20', wherein the output of the Y axis is zero; and lifting one end of the experiment platform parallel to the Y axis, positively inclining 30' along the X axis, initializing the tilt angle sensor, and enabling the output of the X axis to be zero.
3. The real-time tilt compensation method for the optical measurement device according to claim 2, wherein the calculation process of the vertical axis tilt amount is as follows:
assuming a point M (0,1,0) on OZ, the coordinates after two rotation matrix operations are:
wherein α is an inclination amount in the OX axis direction, and β is an inclination amount in the OY axis direction;
then the vertical axis inclination is the angle between the rotated Z' axis and the original Z axis, and can be calculated as follows:
wherein I is the vertical axis tilt amount.
4. The real-time tilt compensation method for an optical measurement device according to claim 3, wherein the formula for correcting the vertical axis tilt amount is:
wherein, I1A horizontal axis tilt error being said error, I2Angle measurement errors which are the high and low angles of the error; a. theHAzimuth angle of the inclination of the vertical axis, AMAzimuth angle of target direction, EMIs the elevation angle, Δ A, of the target direction1Correction of orientation for vertical axis, Δ E1The vertical axis pitch correction.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115406408A (en) * | 2022-10-31 | 2022-11-29 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting and correcting vertical axis tilt error of photoelectric theodolite |
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