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不稳定平台晃动的测量与修正是工程实践中的一个难题,直接影响着安装于其上的仪器设备的测量精度.本文提出了一种基于摄像测量原理的不稳定平台晃动测量与修正方法,以机动经纬仪为研究对象,利用外置基准确定其基座平台的水平指北状态,通过位姿估计的方法实时解算基座平台测量状态相对水平指北状态的姿态晃动量,进而修正经纬仪观测误差.研制了机动经纬仪基座平台晃动测量与修正系统,并通过实验验证了系统对经纬仪观测角的修正精度,结果表明:1)系统姿态测量灵敏度不大于3″;2)系统修正误差随晃动幅度的增大而增大,且晃动幅度小于13′条件下,系统修正误差不大于16″.
The measurement and correction of unstable platform sway is a difficult problem in engineering practice, which directly affects the measurement accuracy of the instruments and equipment installed on it.This paper presents a method of measurement and correction of unstable platform sway based on the principle of image measurement Maneuver theodolite as the research object, using the external reference to determine the level of the north platform state of the base platform, through the attitude estimation method to solve the base platform measuring state relative to the horizontal state of the state of the amount of rocking, and then amend the theodolite observation error The shaking measurement and correction system of the theodolite base platform was developed, and the correction accuracy of the system to the theodolite observation angle was verified by experiments. The results show that: 1) the attitude measurement sensitivity of the system is not more than 3 “; 2) the correction error of the system varies with the shaking amplitude Of the increase and increase, and shaking less than 13 ’conditions, the system correction error of not more than 16 ”.