High accuracy three-dimensional attitude angle measuring device

SUN Guo-yan; GAO Li-min; BAI Jian-ming; YANG Dong-lai; PAN Liang

doi:10.3788/OPE.20162405.0963

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High accuracy three-dimensional attitude angle measuring device

更新时间：2020-08-13

- High accuracy three-dimensional attitude angle measuring device
- Optics and Precision Engineering Vol. 24, Issue 5, Pages: 963-970(2016)
- 作者机构：
  
  1. 中国科学院大学北京,中国,100049
  2. 中国科学院西安光学精密机械研究所,陕西西安,中国,710119
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20162405.0963
  CLC： TB922;TH712
- Received：19 January 2016，
  
  Revised：03 March 2016，
  
  Published Online：30 March 2016，
  
  Published：25 May 2016
- 稿件说明：
移动端阅览
孙国燕, 高立民, 白建明等. 三维姿态角高精度测量装置[J]. 光学精密工程, 2016,24(5): 963-970

SUN Guo-yan, GAO Li-min, BAI Jian-ming etc. High accuracy three-dimensional attitude angle measuring device[J]. Editorial Office of Optics and Precision Engineering, 2016,24(5): 963-970
孙国燕, 高立民, 白建明等. 三维姿态角高精度测量装置[J]. 光学精密工程, 2016,24(5): 963-970 DOI： 10.3788/OPE.20162405.0963.

SUN Guo-yan, GAO Li-min, BAI Jian-ming etc. High accuracy three-dimensional attitude angle measuring device[J]. Editorial Office of Optics and Precision Engineering, 2016,24(5): 963-970 DOI： 10.3788/OPE.20162405.0963.

摘要

基于二维自准直仪和坐标系旋转变换矩阵

提出一种高精度、高稳定性三维姿态角(偏摆角、俯仰角和滚转角)测量方法

并设计了一种三维测角装置。介绍了该装置的工作原理和结构组成。建立了三维测角模型

根据自准直测角原理和坐标旋转矩阵推导了理论算法。基于测量要求设计了光学系统

采用现场可编程门阵列(FPGA)单芯片实现了实时双CMOS图像传感器的驱动成像、像点识别与细分定位、三维转角计算及与USB的快速通信。提出了三维测角装置的标定方法

保证了实际设备参数与理论设计数据的统一。最后对提出的滚转角测量算法进行了实验验证

并分析了影响测角精度的因素及其影响程度。标定和试验结果表明:在20'的视场范围内

三维测角装置的偏摆角、俯仰角和滚转角的测量精度分别达到了2.2"

2.5"和8.7"。该结果验证了设计的装置结构简单、稳定可靠、精度高

且易工程实现三维姿态角的测量。

Abstract

A high accuracy measuring device and corresponding measuring method for three-dimensional attitude angles (yaw

pitch and roll) were designed based on an autocollimator and a coordinate rotary transfer matrix. The working principle and structural composition were introduced. A three-dimensional attitude angle measuring model was established and the theory algorithm by coordinate rotation matrix was derived based on the principle of autocollimation angle measurement. Then

the optical system was designed according to the demand of the measurement system. A single Field Programming Gate Array(FPGA) was used to implement double CMOS image sensor imaging

spot identifying

subdivision positioning

three-dimensional attitude angle calculation and rapid communication with a USB. To ensure the unity of the actual equipment parameter and design data

a high precision calibration method was researched for the three-dimensional attitude angle measuring device. Finally

three-dimensional attitude angles were tested to verify this measuring device

and the degrees and the factors affecting the angle measuring accuracy were analyzed as well. Calibration and experiment measurement results indicate that the measuring precisions of the yaw

pitch and roll angles for the measuring device are 2.2"

2.5" and 7.8" respectively in view field of 20'. It shows that the three-dimensional attitude angle measuring device has higher precision

simpler structure as well as stronger stabilization

and can be widely applied to engineering practices.

关键词

Keywords

references

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