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CN106153074B - Optical calibration system and method for inertial measurement combined dynamic navigation performance - Google Patents

Optical calibration system and method for inertial measurement combined dynamic navigation performance Download PDF

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CN106153074B
CN106153074B CN201610458326.8A CN201610458326A CN106153074B CN 106153074 B CN106153074 B CN 106153074B CN 201610458326 A CN201610458326 A CN 201610458326A CN 106153074 B CN106153074 B CN 106153074B
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张登伟
陈磊
舒晓武
刘承
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Zhejiang University ZJU
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Abstract

本发明公开了一种惯性测量组合动态导航性能的光学标定系统和方法。利用单个激光位移传感器测量位移，两个激光位移传感器测量角度的方法，实时测量惯性测量组合在振动台提供动态导航性能测试的外部环境下，三个维度的实时测量惯性测量组合的位移和角度，并将测量得到的角度和位移信息与惯性测量组合的输出值做比较，从而实现对惯性测量组合的动态导航性能进行标定的目的。本发明提出的惯性测量组合动态导航性能光学标定方法实现非接触测量，实时测量惯性测量组合输出，带宽大，稳定性高，有着较为广阔的应用前景。

Figure 201610458326

The invention discloses an optical calibration system and method for inertia measurement combined dynamic navigation performance. Using a single laser displacement sensor to measure the displacement and two laser displacement sensors to measure the angle, real-time measurement of the inertial measurement combination In the external environment of the dynamic navigation performance test provided by the shaking table, the three-dimensional real-time measurement of the displacement and angle of the inertial measurement combination, And compare the measured angle and displacement information with the output value of the inertial measurement combination, so as to achieve the purpose of calibrating the dynamic navigation performance of the inertial measurement combination. The inertial measurement combined dynamic navigation performance optical calibration method proposed by the invention realizes non-contact measurement and real-time measurement of inertial measurement combined output, has large bandwidth and high stability, and has broad application prospects.

Figure 201610458326

Description

一种惯性测量组合动态导航性能的光学标定系统和方法An optical calibration system and method for inertial measurement combined dynamic navigation performance

技术领域technical field

本发明涉及到一种惯性测量组合动态导航性能的光学标定系统和方法，属于光学传感与测量领域。The invention relates to an optical calibration system and method for inertial measurement combined dynamic navigation performance, belonging to the field of optical sensing and measurement.

技术背景technical background

惯性测量组合是惯性导航的核心测量单元，其性能决定了载体的导航精度和姿态控制精度。动态环境下惯性测量组合能否准确反映载体的实际运动信息，是评价惯性测量仪器性能好坏的关键。为了在地面测试阶段准确评价动态条件下惯性测量组合的动态导航精度及姿态测量精度，需要提供另外一种独立评价方法，评价惯性测量组合动态条件下、在一段时间内的导航及姿态测量性能。为了保证评价的实时性，该独立测量方法必须能与惯性测量组合测量时间同步，实时提供惯性测量组合相对于初始位置的俯仰角、偏航角、滚动角和三维位移信息，实现对惯性测量组合动态性能的实时标定。The inertial measurement unit is the core measurement unit of inertial navigation, and its performance determines the navigation accuracy and attitude control accuracy of the carrier. Whether the inertial measurement combination can accurately reflect the actual motion information of the carrier in a dynamic environment is the key to evaluating the performance of the inertial measurement instrument. In order to accurately evaluate the dynamic navigation accuracy and attitude measurement accuracy of the inertial measurement combination under dynamic conditions during the ground test phase, another independent evaluation method needs to be provided to evaluate the navigation and attitude measurement performance of the inertial measurement combination under dynamic conditions over a period of time. In order to ensure the real-time performance of the evaluation, the independent measurement method must be able to synchronize with the measurement time of the inertial measurement combination, and provide the pitch angle, yaw angle, roll angle and three-dimensional displacement information of the inertial measurement combination relative to the initial position in real time, so as to realize the evaluation of the inertial measurement combination Real-time calibration of dynamic performance.

经调研，当前国内还没有发现精度高、测量可靠的、使用非接触的光学方法进行惯性测量组合动态信息测量、标定的设备。已有的对角度和位移进行标定的方法有以下几种：1)采用圆光栅进行角度测量，采用线光栅进行位移测量，其优点是测量精度高，响应快，动态范围大，缺点是不能实现非接触测量，或者离被测物体距离太远，不能准确反应被测物体的运动状况；2)光幕测量法：利用两正交光幕进行测量，被物体挡住的光幕在CCD端有相应的形态，通过检测该形态测量物体的变形，根据变形实时检测角度及位移量。优点：两组光幕可同时测到多种信息，确定两组投影物之间样品的姿态。缺点：精度较低，平行光较难保证，量范围都较小，不够灵活；3)该方法需要在被测物体三个相互正交的表面分别安装一个反射镜，以实现对激光的镜面反射，而PSD实现对反射后的激光进行接收，振动过程中的扭转使得反射后的激光进入PSD的不同位置，通过检测反射激光的位置变化，实时测量扭转的角度。该方法不能实现非接触测量，装置庞大，所加的镜面反射镜需要固定在被测物体上，对被测物体具有一定的损坏，而且反射镜在动态条件下也可能损坏。由于PSD测量位置范围和精度不能同时满足要求，因此动态条件下可能出现饱和的情况。因此，该方案具有较大的局限性。After research, there is currently no high-precision, reliable measurement equipment that uses non-contact optical methods for inertial measurement combined dynamic information measurement and calibration. The existing calibration methods for angle and displacement are as follows: 1) Use circular grating for angle measurement and line grating for displacement measurement. The advantages are high measurement accuracy, fast response and large dynamic range. The disadvantage is that it cannot be realized. Non-contact measurement, or too far away from the measured object, can not accurately reflect the movement of the measured object; 2) Light curtain measurement method: use two orthogonal light curtains for measurement, and the light curtain blocked by the object has a corresponding By detecting the shape of the object, the deformation of the object is measured, and the angle and displacement are detected in real time according to the deformation. Advantages: Two sets of light curtains can simultaneously measure a variety of information to determine the attitude of the sample between the two sets of projections. Disadvantages: low precision, difficult to ensure parallel light, small measurement range, not flexible enough; 3) This method needs to install a reflector on the three mutually orthogonal surfaces of the measured object to achieve specular reflection of the laser , while the PSD realizes the reception of the reflected laser light, the torsion during the vibration process makes the reflected laser light enter different positions of the PSD, and the angle of torsion is measured in real time by detecting the position change of the reflected laser light. This method cannot realize non-contact measurement, the device is huge, and the added specular reflector needs to be fixed on the measured object, which has certain damage to the measured object, and the reflector may also be damaged under dynamic conditions. Since the PSD measurement position range and accuracy cannot meet the requirements at the same time, saturation may occur under dynamic conditions. Therefore, this scheme has great limitations.

随着工业测量领域的不断扩展以及对测量精度和测量速度的不断提高，传统的接触式测量以及无法满足需求。而基于激光三角法的激光位移传感器可以实现非接触测量，该方法具有非接触测量，对被测面无损；测量分辨率高，精度高；体积小等特点。基于激光位移传感器以上优点，因此考虑将激光位移传感器与惯性测量组合的标定结合起来，可以非接触的对惯性测量组合进行标定，同步测量其相对于初始位置的俯仰角、偏航角、滚动角和三维位移信息。With the continuous expansion of the industrial measurement field and the continuous improvement of measurement accuracy and measurement speed, the traditional contact measurement cannot meet the demand. The laser displacement sensor based on the laser triangulation method can realize non-contact measurement. This method has the characteristics of non-contact measurement, no damage to the measured surface, high measurement resolution, high precision, and small size. Based on the above advantages of the laser displacement sensor, it is considered to combine the calibration of the laser displacement sensor and the inertial measurement combination, which can calibrate the inertial measurement combination without contact, and simultaneously measure its pitch angle, yaw angle, and roll angle relative to the initial position. and three-dimensional displacement information.

发明内容Contents of the invention

本发明提出一种基于激光位移传感器，非接触的对惯性测量组合在动态条件下的性能进行标定系统和方法，能够实时提供惯性测量组合相对于初始位置的俯仰角、偏航角、滚动角和三维位移信息。The present invention proposes a non-contact system and method for calibrating the performance of the inertial measurement combination under dynamic conditions based on a laser displacement sensor, which can provide real-time pitch angle, yaw angle, roll angle and 3D displacement information.

本发明的技术方案如下：Technical scheme of the present invention is as follows:

一种惯性测量组合动态导航性能的光学标定系统包含光学标定装置、信息采集模块、DSP、通信接口和PC机，所述的信息采集模块包括第一信息采集单元、第二信息采集单元和同步模块，第一信息采集单元采集三个角度位移测量组件的位移数据，第二信息采集单元采集待测惯性测量组合的数据，同步模块同时向信息采集模块一和信息采集模块二发送同步采集指令，信息采集模块与DSP相连，DSP通过通信接口与PC机相连；所述的光学标定装置包括水平隔震平台、一维振动台、待测惯性测量组合、第一激光位移传感器和第二激光位移传感器组成的第一角度位移测量组件、第三激光位移传感器和第四激光位移传感器组成的第二角度位移测量组件、第五激光位移传感器和第六激光位移传感器组成的第三角度位移测量组件；一维振动台固定在水平隔震平台表面，三个角度位移测量组件固定在水平隔震平台表面，待测惯性测量组合固定在一维振动台的表面，三个角度位移测量组件布置在待测惯性测量组合的周围用于测量待测惯性测量组合的三维位移、俯仰角、滚转角和偏航角；所述的一维振动台能在Y方向产生一维振动，其表面平行于XY平面；所述的待测惯性测量组合有三个互相正交的平面，其中第一平面平行于XZ平面，第二平面平行于XY平面，第三平面平行于YZ平面。An optical calibration system for inertial measurement combined dynamic navigation performance includes an optical calibration device, an information collection module, a DSP, a communication interface and a PC, and the information collection module includes a first information collection unit, a second information collection unit and a synchronization module , the first information collection unit collects the displacement data of the three angular displacement measurement components, the second information collection unit collects the data of the inertial measurement combination to be measured, and the synchronization module simultaneously sends a synchronous collection instruction to the information collection module 1 and the information collection module 2, and the information The acquisition module is connected to the DSP, and the DSP is connected to the PC through the communication interface; the optical calibration device includes a horizontal vibration isolation platform, a one-dimensional vibration table, an inertial measurement combination to be measured, a first laser displacement sensor and a second laser displacement sensor. The first angular displacement measurement component, the second angular displacement measurement component composed of the third laser displacement sensor and the fourth laser displacement sensor, the third angular displacement measurement component composed of the fifth laser displacement sensor and the sixth laser displacement sensor; one-dimensional The vibration table is fixed on the surface of the horizontal vibration isolation platform, the three angular displacement measurement components are fixed on the surface of the horizontal vibration isolation platform, the inertial measurement combination to be measured is fixed on the surface of the one-dimensional vibration table, and the three angular displacement measurement components are arranged on the The periphery of the combination is used to measure the three-dimensional displacement, pitch angle, roll angle and yaw angle of the inertial measurement combination to be measured; the one-dimensional vibration table can produce one-dimensional vibration in the Y direction, and its surface is parallel to the XY plane; The inertial measurement unit to be measured has three mutually orthogonal planes, wherein the first plane is parallel to the XZ plane, the second plane is parallel to the XY plane, and the third plane is parallel to the YZ plane.

进一步的，所述的第一激光位移传感器和第二激光位移传感器相互平行并且使得两束激光垂直入射到待测惯性测量组合的第一平面上；第三激光位移传感器和第四激光位移传感器相互平行并且使得两束激光垂直入射到待测惯性测量组合的第二平面上；第五激光位移传感器和第六激光位移传感器相互平行并且使得两束激光垂直入射到待测惯性测量组合的第三平面上。Further, the first laser displacement sensor and the second laser displacement sensor are parallel to each other and make the two laser beams perpendicularly incident on the first plane of the inertial measurement combination to be measured; the third laser displacement sensor and the fourth laser displacement sensor are mutually Parallel and make the two laser beams vertically incident on the second plane of the inertial measurement combination to be measured; the fifth laser displacement sensor and the sixth laser displacement sensor are parallel to each other and make the two laser beams vertically incident on the third plane of the inertial measurement combination to be measured superior.

本发明还公开了所述惯性测量组合动态导航性能的光学标定系统的光学标定方法，具体如下：The present invention also discloses an optical calibration method of the optical calibration system of the inertial measurement combined dynamic navigation performance, specifically as follows:

第一角度位移测量组件中第一激光位移传感器和第二激光位移传感器所处的平面平行于XY平面，其间距为L1，出射的两束激光相互平行，并且在初始状态下垂直于待测物体的第一平面，初始状态下，第一激光位移传感器测量得到的位移为S1’，第二激光位移传感器测量得到的位移为S2’，当待测惯性测量组合绕Z轴转动角度

Figure BDA0001023334470000031
时，角度
Figure BDA0001023334470000032
第一激光位移传感器测量得到的位移S1、第二激光位移传感器测量得到的位移S2和两激光束之间的距离L1的关系为
Figure BDA0001023334470000033
Figure BDA0001023334470000034
通过测量S1、S2和已知的L1，实时测量待测惯性测量组合绕Z轴的运动角度，即偏航角
Figure BDA0001023334470000035
同时可得到待测惯性测量组合沿Y轴的位移
Figure BDA0001023334470000036
The planes where the first laser displacement sensor and the second laser displacement sensor are located in the first angular displacement measurement component are parallel to the XY plane, and the distance between them is L 1 . The two emitted laser beams are parallel to each other and perpendicular to the measured The first plane of the object, in the initial state, the displacement measured by the first laser displacement sensor is S 1 ', and the displacement measured by the second laser displacement sensor is S 2 ', when the inertial measurement combination to be measured rotates around the Z axis
Figure BDA0001023334470000031
time, angle
Figure BDA0001023334470000032
The relationship between the displacement S 1 measured by the first laser displacement sensor, the displacement S 2 measured by the second laser displacement sensor and the distance L 1 between the two laser beams is:
Figure BDA0001023334470000033
Figure BDA0001023334470000034
By measuring S 1 , S 2 and the known L 1 , measure the motion angle of the inertial measurement unit to be measured around the Z axis in real time, that is, the yaw angle
Figure BDA0001023334470000035
At the same time, the displacement along the Y-axis of the inertial measurement combination to be measured can be obtained
Figure BDA0001023334470000036

第二角度位移测量组件中第三激光位移传感器和第四激光位移传感器的所处的平面平行于ZY平面，其间距为L2，出射的两束激光相互平行，并且在初始状态下垂直于待测物体的第二平面，初始状态下，第三激光位移传感器测量得到的位移为S3’，第四激光位移传感器测量得到的位移为S4’，当待测惯性测量组合绕X轴转动角度φ时，角度φ、第三激光位移传感器测量得到的位移S3、第四激光位移传感器测量得到的位移S4和两激光束之间的距离L2的关系为

Figure BDA0001023334470000039
Figure BDA00010233344700000310
通过测量S3、S4和已知的L2，实时测量待测惯性测量组合绕X轴的运动角度，即滚转角φ，同时可得到待测惯性测量组合沿Z轴的位移
Figure BDA00010233344700000312
The planes of the third laser displacement sensor and the fourth laser displacement sensor in the second angular displacement measurement component are parallel to the ZY plane, and the distance between them is L 2 . The two outgoing laser beams are parallel to each other, and are perpendicular to the Measure the second plane of the object. In the initial state, the displacement measured by the third laser displacement sensor is S 3 ', and the displacement measured by the fourth laser displacement sensor is S 4 '. When the inertial measurement combination to be measured rotates around the X-axis by an angle When φ, the relationship between the angle φ, the displacement S 3 measured by the third laser displacement sensor, the displacement S 4 measured by the fourth laser displacement sensor and the distance L 2 between the two laser beams is
Figure BDA0001023334470000039
Figure BDA00010233344700000310
By measuring S 3 , S 4 and the known L 2 , measure the motion angle of the inertial measurement unit to be measured around the X-axis in real time, that is, the roll angle φ, and at the same time obtain the displacement of the inertial measurement unit to be measured along the Z-axis
Figure BDA00010233344700000312

第三角度位移测量组件中第五激光位移传感器和第六激光位移传感器的所处的平面平行于ZX平面，其间距为L3，出射的两束激光相互平行，并且在初始状态下垂直于待测物体的第三平面，初始状态下，第五激光位移传感器测量得到的位移为S5’，第六激光位移传感器测量得到的位移为S6’，当待测惯性测量组合绕Y轴转动角度θ时，角度θ、第五激光位移传感器测量得到的位移S5、第六激光位移传感器测量得到的位移S6和两激光束之间的距离L3的关系为

Figure BDA0001023334470000041
Figure BDA0001023334470000042
通过测量S5、S6和已知的L3，实时测量待测惯性测量组合绕Z轴的运动角度，即偏航角θ，同时可得到待测惯性测量组合沿X轴的位移
Figure BDA0001023334470000043
The planes of the fifth laser displacement sensor and the sixth laser displacement sensor in the third angular displacement measurement component are parallel to the ZX plane, and the distance between them is L 3 . The two emitted laser beams are parallel to each other and perpendicular to the Measure the third plane of the object. In the initial state, the displacement measured by the fifth laser displacement sensor is S 5 ′, and the displacement measured by the sixth laser displacement sensor is S 6 ′. When the inertial measurement combination to be measured rotates around the Y axis by an angle When θ, the relationship between the angle θ, the displacement S 5 measured by the fifth laser displacement sensor, the displacement S 6 measured by the sixth laser displacement sensor, and the distance L 3 between the two laser beams is as follows:
Figure BDA0001023334470000041
Figure BDA0001023334470000042
By measuring S 5 , S 6 and the known L 3 , measure the motion angle of the inertial measurement unit to be measured around the Z axis in real time, that is, the yaw angle θ, and at the same time obtain the displacement of the inertial measurement unit to be measured along the X axis
Figure BDA0001023334470000043

第一信息采集单元采集三个角度位移测量组件的位移数据，第二信息采集单元采集待测惯性测量组合的数据，同步模块同时向第一信息采集单元和第二信息采集单元发送同步采集指令，实现6个激光位移传感器信号以及惯性测量组合信号的实时同步采集，并把结果送到PC机，PC机得到三维位移信息LX，LY，LZ和三维角度信息

Figure BDA0001023334470000044
θ，φ，当一维振动台沿Y轴振动用以测试惯性测量组合的动态导性能时，信息采集模块同步采集惯性测量组合输出的三维位移信息Ix，Iy，Iz和三维角度信息
Figure BDA0001023334470000045
Iθ，Iφ，将两个结果作对比，即可得到惯性测量组合在动态条件下三维角度和三维位移的测量误差为：The first information collection unit collects the displacement data of the three angular displacement measurement components, the second information collection unit collects the data of the inertial measurement combination to be measured, and the synchronization module sends synchronous collection instructions to the first information collection unit and the second information collection unit at the same time, Realize the real-time synchronous acquisition of 6 laser displacement sensor signals and inertial measurement combined signals, and send the results to the PC, and the PC can obtain the three-dimensional displacement information L X , L Y , L Z and three-dimensional angle information
Figure BDA0001023334470000044
θ, φ, when the one-dimensional shaking table vibrates along the Y axis to test the dynamic conductivity of the inertial measurement unit, the information acquisition module synchronously collects the three-dimensional displacement information Ix, Iy, Iz and three-dimensional angle information output by the inertial measurement unit
Figure BDA0001023334470000045
I θ , I φ , comparing the two results, the measurement error of the three-dimensional angle and three-dimensional displacement of the inertial measurement unit under dynamic conditions can be obtained as:

Figure BDA0001023334470000046
Figure BDA0001023334470000046

即可实现惯性测量组合动态导航性能的标定，即对惯性测量组合的性能做出评价。The calibration of the dynamic navigation performance of the inertial measurement combination can be realized, that is, the performance of the inertial measurement combination can be evaluated.

本发明的有益效果是，本发明实现了惯性测量组合动态导航性能的非接触光学标定，该方法基于光学漫反射三角成像的激光位移传感器，实现利用两个激光位移传感器测量惯性测量组合的一维转角，进而利用六路激光位移传感器实现三维角度和位移的测量，并辅以对应的机械调整和对准装置，以及信息采集和处理系统，可以实时的对惯性测量组合的动态性能进行标定。优势在于非接触的测量对于待测惯性测量组合无损，而且测量精度高，实时同步，为惯性测量组合的动态导航性能的标定提供了有效的标定方法。The beneficial effect of the present invention is that the present invention realizes the non-contact optical calibration of the dynamic navigation performance of the inertial measurement combination. The rotation angle, and then use the six-way laser displacement sensor to realize the measurement of the three-dimensional angle and displacement, supplemented by the corresponding mechanical adjustment and alignment device, as well as the information acquisition and processing system, which can calibrate the dynamic performance of the inertial measurement combination in real time. The advantage is that the non-contact measurement is non-destructive to the inertial measurement combination to be tested, and has high measurement accuracy and real-time synchronization, which provides an effective calibration method for the calibration of the dynamic navigation performance of the inertial measurement combination.

附图说明Description of drawings

图1为惯性测量组合动态导航性能的光学标定系统图；Figure 1 is a diagram of the optical calibration system for the inertial measurement integrated dynamic navigation performance;

图2为惯性测量组合动态导航性能的光学标定系统信息处理框图。Fig. 2 is a block diagram of the information processing of the optical calibration system of the inertial measurement combined dynamic navigation performance.

具体实施方式Detailed ways

下面结合附图详述本发明。The present invention is described in detail below in conjunction with accompanying drawing.

如图1和图2所示，一种惯性测量组合动态导航性能的光学标定系统包含光学标定装置、信息采集模块、DSP、通信接口和PC机，所述的信息采集模块包括第一信息采集单元、第二信息采集单元和同步模块，第一信息采集单元采集三个角度位移测量组件的位移数据，第二信息采集单元采集待测惯性测量组合(3)的数据，同步模块同时向信息采集模块一和信息采集模块二发送同步采集指令，信息采集模块与DSP相连，DSP通过通信接口与PC机相连；所述的光学标定装置包括水平隔震平台1、一维振动台2、待测惯性测量组合3、第一激光位移传感器4和第二激光位移传感器5组成的第一角度位移测量组件13、第三激光位移传感器6和第四激光位移传感器7组成的第二角度位移测量组件14、第五激光位移传感器8和第六激光位移传感器9组成的第三角度位移测量组件15；一维振动台2固定在水平隔震平台1表面，三个角度位移测量组件固定在水平隔震平台1表面，待测惯性测量组合3固定在一维振动台2的表面，三个角度位移测量组件布置在待测惯性测量组合3的周围用于测量待测惯性测量组合3的三维位移、俯仰角、滚转角和偏航角；所述的一维振动台2能在Y方向产生一维振动，其表面平行于XY平面；所述的待测惯性测量组合3有三个互相正交的平面，其中第一平面10平行于XZ平面，第二平面11平行于XY平面，第三平面12平行于YZ平面。As shown in Figures 1 and 2, an optical calibration system for inertial measurement combined dynamic navigation performance includes an optical calibration device, an information acquisition module, a DSP, a communication interface and a PC, and the information acquisition module includes a first information acquisition unit , the second information collection unit and the synchronization module, the first information collection unit collects the displacement data of three angular displacement measurement components, the second information collection unit collects the data of the inertial measurement combination (3) to be measured, and the synchronization module sends information to the information collection module simultaneously The first and the information acquisition module two send synchronous acquisition instructions, the information acquisition module is connected to the DSP, and the DSP is connected to the PC through the communication interface; the optical calibration device includes a horizontal vibration isolation platform 1, a one-dimensional vibration table 2, an inertial measurement unit to be measured Combination 3, the first angular displacement measurement assembly 13 composed of the first laser displacement sensor 4 and the second laser displacement sensor 5, the second angular displacement measurement assembly 14 composed of the third laser displacement sensor 6 and the fourth laser displacement sensor 7, the first The third angular displacement measurement component 15 composed of five laser displacement sensors 8 and the sixth laser displacement sensor 9; the one-dimensional vibration table 2 is fixed on the surface of the horizontal vibration isolation platform 1, and the three angular displacement measurement components are fixed on the surface of the horizontal vibration isolation platform 1 , the inertial measurement unit 3 to be measured is fixed on the surface of the one-dimensional vibrating table 2, and three angular displacement measurement components are arranged around the inertial measurement unit 3 to measure the three-dimensional displacement, pitch angle, and roll of the inertial measurement unit 3 to be measured. Rotation angle and yaw angle; the one-dimensional vibrating table 2 can produce one-dimensional vibration in the Y direction, and its surface is parallel to the XY plane; the described inertial measurement combination 3 to be measured has three mutually orthogonal planes, wherein the first The plane 10 is parallel to the XZ plane, the second plane 11 is parallel to the XY plane, and the third plane 12 is parallel to the YZ plane.

所述的第一激光位移传感器4和第二激光位移传感器5相互平行并且使得两束激光垂直入射到待测惯性测量组合3的第一平面10上；第三激光位移传感器6和第四激光位移传感器7相互平行并且使得两束激光垂直入射到待测惯性测量组合3的第二平面11上；第五激光位移传感器8和第六激光位移传感器9相互平行并且使得两束激光垂直入射到待测惯性测量组合3的第三平面12上。The first laser displacement sensor 4 and the second laser displacement sensor 5 are parallel to each other and make the two laser beams perpendicularly incident on the first plane 10 of the inertial measurement combination 3 to be measured; the third laser displacement sensor 6 and the fourth laser displacement sensor The sensors 7 are parallel to each other and make the two laser beams perpendicularly incident on the second plane 11 of the inertial measurement combination 3 to be measured; the fifth laser displacement sensor 8 and the sixth laser displacement sensor 9 are parallel to each other and make the two laser beams perpendicularly incident on the second plane 11 of the inertial measurement combination 3 to be measured; On the third plane 12 of the IMU 3 .

所述惯性测量组合动态导航性能的光学标定系统的光学标定方法，具体如下：The optical calibration method of the optical calibration system of the inertial measurement combined dynamic navigation performance is as follows:

第一角度位移测量组件13中第一激光位移传感器4和第二激光位移传感器5所处的平面平行于XY平面，其间距为L1，出射的两束激光相互平行，并且在初始状态下垂直于待测物体的第一平面10，初始状态下，第一激光位移传感器4测量得到的位移为S1’，第二激光位移传感器5测量得到的位移为S2’，当待测惯性测量组合3绕Z轴转动角度

Figure BDA0001023334470000061
时，角度
Figure BDA0001023334470000062
第一激光位移传感器4测量得到的位移S1、第二激光位移传感器5测量得到的位移S2和两激光束之间的距离L1的关系为
Figure BDA0001023334470000063
通过测量S1、S2和已知的L1，实时测量待测惯性测量组合3绕Z轴的运动角度，即偏航角
Figure BDA0001023334470000064
同时可得到待测惯性测量组合3沿Y轴的位移
Figure BDA0001023334470000065
The plane where the first laser displacement sensor 4 and the second laser displacement sensor 5 are located in the first angular displacement measurement component 13 is parallel to the XY plane, and the distance between them is L 1 . The two emitted laser beams are parallel to each other and vertical in the initial state. On the first plane 10 of the object to be measured, in the initial state, the displacement measured by the first laser displacement sensor 4 is S 1 ', and the displacement measured by the second laser displacement sensor 5 is S 2 ', when the inertial measurement combination to be measured 3 rotation angle around the Z axis
Figure BDA0001023334470000061
time, angle
Figure BDA0001023334470000062
The relationship between the displacement S1 measured by the first laser displacement sensor 4 , the displacement S2 measured by the second laser displacement sensor 5 , and the distance L1 between the two laser beams is as follows:
Figure BDA0001023334470000063
By measuring S 1 , S 2 and the known L 1 , measure the motion angle of the inertial measurement unit 3 to be measured around the Z axis in real time, that is, the yaw angle
Figure BDA0001023334470000064
At the same time, the displacement of the inertial measurement unit 3 to be measured along the Y axis can be obtained
Figure BDA0001023334470000065

第二角度位移测量组件14中第三激光位移传感器6和第四激光位移传感器7的所处的平面平行于ZY平面，其间距为L2，出射的两束激光相互平行，并且在初始状态下垂直于待测物体的第二平面11，初始状态下，第三激光位移传感器6测量得到的位移为S3’，第四激光位移传感器7测量得到的位移为S4’，当待测惯性测量组合3绕X轴转动角度φ时，角度φ、第三激光位移传感器6测量得到的位移S3、第四激光位移传感器7测量得到的位移S4和两激光束之间的距离L2的关系为

Figure BDA0001023334470000066
通过测量S3、S4和已知的L2，实时测量待测惯性测量组合3绕X轴的运动角度，即滚转角φ，同时可得到待测惯性测量组合3沿Z轴的位移
Figure BDA0001023334470000067
The planes where the third laser displacement sensor 6 and the fourth laser displacement sensor 7 are located in the second angular displacement measurement assembly 14 are parallel to the ZY plane, the distance between them is L 2 , and the two emitted laser beams are parallel to each other, and in the initial state Perpendicular to the second plane 11 of the object to be measured, in the initial state, the displacement measured by the third laser displacement sensor 6 is S 3 ′, and the displacement measured by the fourth laser displacement sensor 7 is S 4 ′, when the inertial measurement to be measured When the combination 3 rotates the angle φ around the X axis, the relationship between the angle φ, the displacement S 3 measured by the third laser displacement sensor 6, the displacement S 4 measured by the fourth laser displacement sensor 7, and the distance L 2 between the two laser beams for
Figure BDA0001023334470000066
By measuring S 3 , S 4 and the known L 2 , the movement angle of the inertial measurement unit 3 to be measured around the X-axis is measured in real time, that is, the roll angle φ, and the displacement of the inertial measurement unit 3 to be measured along the Z-axis can be obtained at the same time
Figure BDA0001023334470000067

第三角度位移测量组件15中第五激光位移传感器8和第六激光位移传感器9的所处的平面平行于ZX平面，其间距为L3，出射的两束激光相互平行，并且在初始状态下垂直于待测物体的第三平面12，初始状态下，第五激光位移传感器测量8得到的位移为S5’，第六激光位移传感器9测量得到的位移为S6’，当待测惯性测量组合3绕Y轴转动角度θ时，角度θ、第五激光位移传感器8测量得到的位移S5、第六激光位移传感器9测量得到的位移S6和两激光束之间的距离L3的关系为

Figure BDA0001023334470000068
通过测量S5、S6和已知的L3，实时测量待测惯性测量组合3绕Z轴的运动角度，即偏航角θ，同时可得到待测惯性测量组合3沿X轴的位移
Figure BDA0001023334470000069
The planes where the fifth laser displacement sensor 8 and the sixth laser displacement sensor 9 are located in the third angular displacement measurement assembly 15 are parallel to the ZX plane, the distance between them is L 3 , and the two emitted laser beams are parallel to each other, and in the initial state Perpendicular to the third plane 12 of the object to be measured, in the initial state, the displacement obtained by the measurement 8 of the fifth laser displacement sensor is S 5 ′, and the displacement obtained by the measurement of the sixth laser displacement sensor 9 is S 6 ′, when the inertial measurement to be measured When the combination 3 rotates the angle θ around the Y axis, the relationship between the angle θ, the displacement S 5 measured by the fifth laser displacement sensor 8 , the displacement S 6 measured by the sixth laser displacement sensor 9 , and the distance L 3 between the two laser beams for
Figure BDA0001023334470000068
By measuring S 5 , S 6 and the known L 3 , measure the motion angle of the inertial measurement unit 3 to be measured around the Z axis in real time, that is, the yaw angle θ, and at the same time obtain the displacement of the inertial measurement unit 3 to be measured along the X axis
Figure BDA0001023334470000069

第一信息采集单元采集三个角度位移测量组件的位移数据，第二信息采集单元采集待测惯性测量组合(3)的数据，同步模块同时向第一信息采集单元和第二信息采集单元发送同步采集指令，实现6个激光位移传感器信号以及惯性测量组合信号的实时同步采集，并把结果送到PC机，PC机得到三维位移信息LX，LY，LZ和三维角度信息

Figure BDA0001023334470000071
θ，φ，当一维振动台沿Y轴振动用以测试惯性测量组合的动态导性能时，信息采集模块同步采集惯性测量组合输出的三维位移信息Ix，Iy，Iz和三维角度信息
Figure BDA0001023334470000072
Iθ，Iφ，将两个结果作对比，即可得到惯性测量组合在动态条件下三维角度和三维位移的测量误差为：The first information collection unit collects the displacement data of the three angular displacement measurement components, the second information collection unit collects the data of the inertial measurement combination (3) to be measured, and the synchronization module simultaneously sends synchronization to the first information collection unit and the second information collection unit Acquisition instructions to realize real-time synchronous acquisition of 6 laser displacement sensor signals and inertial measurement combined signals, and send the results to the PC, and the PC can obtain three-dimensional displacement information L X , L Y , L Z and three-dimensional angle information
Figure BDA0001023334470000071
θ, φ, when the one-dimensional shaking table vibrates along the Y axis to test the dynamic conductivity of the inertial measurement unit, the information acquisition module synchronously collects the three-dimensional displacement information Ix, Iy, Iz and three-dimensional angle information output by the inertial measurement unit
Figure BDA0001023334470000072
I θ , I φ , comparing the two results, the measurement error of the three-dimensional angle and three-dimensional displacement of the inertial measurement unit under dynamic conditions can be obtained as:

Figure BDA0001023334470000073
Figure BDA0001023334470000073

即可实现惯性测量组合动态导航性能的标定，即对惯性测量组合的性能做出评价。The calibration of the dynamic navigation performance of the inertial measurement combination can be realized, that is, the performance of the inertial measurement combination can be evaluated.

Claims (3)

1. The optical calibration system is characterized by comprising an optical calibration device, an information acquisition module, a DSP (digital signal processor), a communication interface and a PC (personal computer), wherein the information acquisition module comprises a first information acquisition unit, a second information acquisition unit and a synchronization module; the optical calibration device comprises a horizontal vibration isolation platform (1), a one-dimensional vibration table (2), an inertia measurement combination (3) to be measured, a first angular displacement measurement assembly (13) consisting of a first laser displacement sensor (4) and a second laser displacement sensor (5), a second angular displacement measurement assembly (14) consisting of a third laser displacement sensor (6) and a fourth laser displacement sensor (7), and a third angular displacement measurement assembly (15) consisting of a fifth laser displacement sensor (8) and a sixth laser displacement sensor (9); the one-dimensional vibration table (2) is fixed on the surface of the horizontal vibration isolation platform (1), three angle displacement measurement assemblies are fixed on the surface of the horizontal vibration isolation platform (1), the inertia measurement combination (3) to be measured is fixed on the surface of the one-dimensional vibration table (2), and the three angle displacement measurement assemblies are arranged around the inertia measurement combination (3) to be measured and are used for measuring three-dimensional displacement, pitch angle, roll angle and yaw angle of the inertia measurement combination (3) to be measured; the one-dimensional vibration table (2) can generate one-dimensional vibration in the Y direction, and the surface of the one-dimensional vibration table is parallel to an XY plane; the inertial measurement unit (3) to be measured has three mutually orthogonal planes, wherein a first plane (10) is parallel to an XZ plane, a second plane (11) is parallel to an XY plane, and a third plane (12) is parallel to a YZ plane.
2. An optical calibration system according to claim 1, characterized in that the first laser displacement sensor (4) and the second laser displacement sensor (5) are parallel to each other and such that the two laser beams are perpendicularly incident on a first plane (10) of the inertial measurement unit (3) to be measured; the third laser displacement sensor (6) and the fourth laser displacement sensor (7) are parallel to each other and make two laser beams vertically incident on a second plane (11) of the inertia measurement combination (3) to be measured; the fifth laser displacement sensor (8) and the sixth laser displacement sensor (9) are parallel to each other and make the two laser beams vertically incident on a third plane (12) of the inertia measurement combination (3) to be measured.
3. An optical calibration method of an optical calibration system according to claim 1, characterized in that the first (4) and second (5) laser displacement sensors of the first angular displacement measuring assembly (13) are located in a plane parallel to the XY plane with a pitch L 1 The two emitted lasers are parallel to each other and are perpendicular to a first plane (10) of the object to be measured in an initial state, and in the initial state, the displacement obtained by the measurement (4) of the first laser displacement sensor is S 1 ' the displacement measured by the second laser displacement sensor (5) is S 2 ' when the inertia measurement combination (3) to be measured rotates around the Z axis
Figure FDA0004039238250000021
Angle->
Figure FDA0004039238250000022
The displacement S measured by the first laser displacement sensor (4) 1 The displacement S measured by the second laser displacement sensor (5) 2 And a distance L between the two laser beams 1 The relation of->
Figure FDA0004039238250000023
By measuring S 1 、S 2 And L is known to be 1 Measuring in real time the angle of movement of the inertial measurement unit (3) to be measured about the Z axis, i.e. the yaw angle +.>
Figure FDA0004039238250000024
At the same time, the displacement of the inertia measurement combination (3) to be measured along the Y axis can be obtained
Figure FDA0004039238250000025
The planes of the third laser displacement sensor (6) and the fourth laser displacement sensor (7) in the second angular displacement measuring component (14) are parallel to the ZY plane, and the distance between the third laser displacement sensor and the fourth laser displacement sensor is L 2 The two emitted lasers are parallel to each other and are perpendicular to a second plane (11) of the object to be measured in an initial state, and the displacement measured by the third laser displacement sensor (6) in the initial state is S 3 ' the displacement measured by the fourth laser displacement sensor (7) is S 4 When the inertia measurement combination (3) to be measured rotates around the X axis by an angle phi, the angle phi and the displacement S measured by the third laser displacement sensor (6) are measured 3 The displacement S measured by a fourth laser displacement sensor (7) 4 And a distance L between the two laser beams 2 The relation of (2) is that
Figure FDA0004039238250000026
By measuring S 3 、S 4 And L is known to be 2 The motion angle, namely the roll angle phi, of the inertia measurement combination (3) to be measured around the X axis is measured in real time, and meanwhile, the displacement +_ of the inertia measurement combination (3) to be measured along the Z axis can be obtained>
Figure FDA0004039238250000027
The planes of the fifth laser displacement sensor (8) and the sixth laser displacement sensor (9) in the third angular displacement measuring component (15) are parallel to the ZX plane, and the distance between the planes is L 3 The two laser beams are parallel to each other and are perpendicular to the third plane (12) of the object under test in the initial state, and the fifth laser beam in the initial stateThe displacement measured by the optical displacement sensor (8) is S 5 ' the displacement measured by the sixth laser displacement sensor (9) is S 6 When the inertia measurement combination (3) to be measured rotates by an angle theta around the Y axis, the angle theta and the displacement S measured by the fifth laser displacement sensor (8) are measured 5 The displacement S measured by a sixth laser displacement sensor (9) 6 And a distance L between the two laser beams 3 The relation of (2) is that
Figure FDA0004039238250000028
By measuring S 5 、S 6 And L is known to be 3 The motion angle, namely the yaw angle theta, of the inertia measurement combination (3) to be measured around the Z axis is measured in real time, and meanwhile, the displacement +_ of the inertia measurement combination (3) to be measured along the X axis can be obtained>
Figure FDA0004039238250000029
The first information acquisition unit acquires displacement data of three angle displacement measurement components, the second information acquisition unit acquires data of an inertial measurement unit (3) to be measured, the synchronous module simultaneously transmits synchronous acquisition instructions to the first information acquisition unit and the second information acquisition unit, real-time synchronous acquisition of 6 laser displacement sensor signals and inertial measurement unit signals is realized, the results are transmitted to a PC (personal computer) and the PC obtains three-dimensional displacement information L X ，L Y ，L Z And three-dimensional angle information->
Figure FDA0004039238250000031
Theta, phi, when the one-dimensional vibrating table vibrates along the Y axis to test the dynamic conductivity of the inertia measurement combination, the information acquisition module synchronously acquires three-dimensional displacement information Ix, iy, iz and three-dimensional angle information ∈outputted by the inertia measurement combination>
Figure FDA0004039238250000032
I θ ，I φ Comparing the two results to obtain the measurement error of the three-dimensional angle and the three-dimensional displacement of the inertia measurement combination under the dynamic condition, wherein the measurement error is as follows:
Figure FDA0004039238250000033
the calibration of the dynamic navigation performance of the inertial measurement unit can be realized, namely, the performance of the inertial measurement unit is evaluated.
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