导航器标定测量装置研制与测量误差分析-计算机科学与技术专业论文.docx

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - II - Abstract In aerospace systems, navigation system plays a vital role. So whether the accuracy of the navigator is up to standard is very important. In order to verify the accuracy of navigation, it is very necessary to design a navigator ground calibration system, the system must to be easy to operate. Based on the design requirements of the calibration system, this paper design two measurement programs: the calibration system based on close-range photogrammetry and the calibration system based on autocollimation electronic theodolite. The paper describes the measurement principle, the experimental conditions, the experimental accuracy of the two programs in details, in this paper, the two programs were compared. After analysis and calculation, we found that the accuracy of close-range photogrammetry is lower than the accuracy of the turntable, and it can not measure and calibrate the angular position and displacement position. After the analysis of the measurement accuracy of theodolites and the positional relationship between the theodolites and the measured objects, we get that will meet the mission requirements to use the autocollimation electronic theodolite. Finally, we selected the the calibration system based on autocollimation electronic theodolite. In the the calibration system based on autocollimation electronic theodolite, the whole experement was divided into two parts: the calibration of the local geographic coordinate system and the measurement between the IMU reference mirror and turntable zero coordinates. The calibration of the geographical coordinate includes calculating the relationship between geographic coordinate and frames. The paper also develops and design a measurement software, the software is based on the calibration system based on autocollimation electronic theodolite and it is based on C++ language. The software achieves the functions of data collection, data analysis, data filtering, attitu