三轴转台初始位姿对准误差的测试方法

刘庆博; 任顺清; 王常虹

doi:10.3788/OPE.20172503.0712

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三轴转台初始位姿对准误差的测试方法

微纳技术与精密机械 | 更新时间：2020-07-07

- 三轴转台初始位姿对准误差的测试方法
- Measurement method of initial position and attitude alignment error for three-axis simulator
- 光学精密工程 2017年25卷第3期页码：712-719
- 作者机构：
  
  哈尔滨工业大学空间控制与惯性技术研究中心, 黑龙江哈尔滨 150080
- 作者简介：
  
  [ "刘庆博 (1991-), 男, 黑龙江牡丹江人, 博士研究生, 2013年、2015年于哈尔滨工业大学分别获得学士、硕士学位, 主要从事惯性技术方面的研究。E-mail:lqb9104@163.com" ]
  任顺清 (1967-), 男, 湖北松滋人, 博士, 教授, 博士生导师, 1989年、1994年和1999年于哈尔滨工业大学分别获得学士、硕士和博士学位, 主要从事精密测试技术, 惯性技术, 系统辨识方面的研究。E-mail：renshunqing@hit.edu.cn REN Shun-qing, E-mail：renshunqing@hit.edu.cn
- 基金信息：
  
  国家重大科学仪器设备开发专项资助项目(2013YQ310737)
- DOI：10.3788/OPE.20172503.0712
  中图分类号： TH741
- 收稿日期：2016-09-10，
  
  录用日期：2016-10-17，
  
  纸质出版日期：2017-03-25
- 稿件说明：
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刘庆博, 任顺清, 王常虹. 三轴转台初始位姿对准误差的测试方法[J]. 光学精密工程, 2017,25(3):712-719.

Qing-bo LIU, Shun-qing REN, Chang-hong WANG. Measurement method of initial position and attitude alignment error for three-axis simulator[J]. Optics and precision engineering, 2017, 25(3): 712-719.
刘庆博, 任顺清, 王常虹. 三轴转台初始位姿对准误差的测试方法[J]. 光学精密工程, 2017,25(3):712-719. DOI： 10.3788/OPE.20172503.0712.

Qing-bo LIU, Shun-qing REN, Chang-hong WANG. Measurement method of initial position and attitude alignment error for three-axis simulator[J]. Optics and precision engineering, 2017, 25(3): 712-719. DOI： 10.3788/OPE.20172503.0712.

摘要

雷达仿真实验用卧式三轴飞行仿真转台的三轴交汇中心与射频阵列仿真系统球面的球心同心，转台的初始姿态满足一定要求，以减小雷达仿真时的误差。为了三轴转台位姿的精确对准，提出了一种能补偿经纬仪竖直轴线铅垂度误差和俯仰轴零位误差的对准方案，首先根据精确的已知基点的坐标，通过经纬仪对各基点的观测结果采用最小二乘迭代处理方法，确定了经纬仪的三轴交汇中心的位置，再通过经纬仪对转台的内、中环轴轴端安装的靶标进行观测，确定了三轴转台的位置与初始姿态。通过实际测试与调整，解算出了三轴转台的三轴交汇中的坐标为-0.485，0.203和-0.475 mm，外环轴指向误差为-59"。该测试结果在位置误差1 mm，姿态误差2'的要求范围之内，实现了三轴转台的位姿对准任务。

Abstract

Three-axis intersecting point of horizontal three-axis flight simulator used for radar simulation experiment shall be homocentric with spherical center of the RF array simulation system

and initial attitude of the simulator shall meet the requirements to reduce the radar simulation error. To achieve accurate position and attitude alignment of the simulator

an alignment method which can compensate for plumb error in vertical axis of the theodolite and the initial angular error in the pitch axis was put forward. Method: first

identified the position where three-axis intersecting point of the theodolite was located by adopting the Iterative Least Square Method based on accurate coordinates of the known base points and observation results of these base points; then determined the position and initial attitude of the three-axis simulator through observation in the targets installed at inner axis and middle axis end of the simulator by theodolite. Through actual test and adjustment

coordinate values in three-axis intersection of the simulator were calculated to be-0.485 mm

0.203 mm and-0.475 mm

with an outer ring direction error of-59". The test results

within the position error range of 1 mm and attitude error range of 2'

help achieve position and attitude alignment of the three-axis simulator.

关键词

Keywords

references

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