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    基于电涡流位移传感器的相对姿态测量方法

    Relative Attitude Measurement Method Based on Eddy Current Displacement Sensors

    • 摘要: 为解决光电设备引入隔振系统后成像坐标系与载体坐标系无法统一的问题,提出了一种基于电涡流位移传感器的相对姿态测量方法。首先基于坐标旋转变换原理推导了被测面测点位置与三维相对姿态之间的映射关系,并建立了隔振系统相对姿态解算方程,接着分析了准确解算相对姿态所需电涡流位移传感器的条件,并采用蒙特卡洛法分析出当前应用条件下的相对姿态解算精度约为±0.003°,最后设计了基于电涡流传感器的相对姿态测量实验,采用8个高精度电涡流传感器以及经纬仪对所提相对姿态解算方法的有效性和准确性进行了验证。结果表明,基于电涡流位移传感器的相对姿态解算值与经纬仪测量真值相比最大误差为0.008°。所提出的相对姿态测量方法能够有效解决隔振系统导致成像坐标系与载体坐标系的统一问题,在光电隔振系统中具有应用价值。

       

      Abstract: To address the issue of inconsistent imaging coordinate systems and carrier coordinate systems caused by the introduction of vibration isolation systems in optoelectronicequipment, a relative attitude measurement method based on eddy current displacement sensors is proposed. First, the mapping relationship between the measured point positions on the tested surface and the three-dimension relative attitude is derived using the principle of coordinate rotation transformation, and the relative attitude solution equation of the vibration isolation system is established. Then, the conditions required for eddy current displacement sensors to accurately solve the relative attitude are analyzed. The relative attitude determination accuracy under current application conditions is analyzed using the Monte Carlo method, resulting in a precision of ±0.003 degrees. Finally, a relative attitude measurement experiment based on eddy current sensors is designed, where 8 high-precision eddy current sensors and 2 theodolites are used to verify the effectiveness and accuracy of the proposed relative attitude solution method. The results show that the maximum error between the relative attitude solution values obtained via the eddy current displacement sensors and the true values measured by the theodolite is 0.008 degrees. The relative attitude measurement method proposed in this paper can effectively solve the problem of unifying the imaging coordinate system and the carrier coordinate system caused by the vibration isolation system, and has application value in optoelectronic vibration isolation systems.

       

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