三维姿态角高精度测量装置

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。

High accuracy three-dimensional attitude angle measuring device

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.