一种新的三维空间角度免通视测量方法研究

Space angle measurement has a key role in the civil and military fields such as machinery manufacturing, geodesy, construction of water conservancy and transportation, launch position measurement, axis parallelism detection etc. While there are problems such as intervisibility, calibration complex, environmentally sensitive and low efficiency in the existing space angle measurement methods, this project proposed novel inertial stability autocollimation system and method. To realize the object, we'll study the system implementation methods, multi-spectral autocollimator optical system design, inertial stabilization system design and error propagation analysis problems ,and solve three key scientific issues such as dynamic deformation angle high-precision sub-pixel extraction, inertial sensor optical self-calibration and zero bias correction, error traceability and compensation，making the 3d space angle mobile intervisible-independent angle measurement method come true. Through the study of the project, the inertial autocollimation angle measurement system is expected to be established; a novel inertial autocollimator with independent intellectual property rights will be made , and a development by leaps and bounds to be realized in measuring instrument field.

空间角度测量对机械制造、大地测量、水利交通建设、发射阵地测量、轴线平行性检测等民用和军用领域具有关键作用。针对现有的空间多轴角度测量方法需通视、标定复杂、环境敏感、效率低等难题，本项目提出惯性稳定自准直测量原理和方法，对其实现方法、多光谱自准直光学系统设计、惯性稳定系统设计、误差传递分析等问题进行研究，解决基于亚像素定位的动态条件三维形变角高精度提取、惯性传感器光学自校准与零偏校正、误差溯源与补偿校正等三个关键科学问题，实现三维空间角度的可移动免通视角度测量。通过本项目研究，可望在理论上建立惯性自准直测角的体系方法；在应用上形成具有自主知识产权的新型惯性自准直测量仪，实现我国测量仪器的跨越式发展。

本项目针对针对现有的空间多轴角度测量方法需通视、标定复杂、效率低等难题，建立了惯性稳定自准直测量的基本方法和理论模型，分析了测量误差的传递机理，研究了传感器误差模型和滤波算法，并设计了原理样机进行了实验验证。首先，研究分析了大尺寸空间角光学动态对准惯性测量方法的基本原理，建立了测量系统姿态初始化模型和测量系统光轴指向解算模型。由于测量时是由测量人员手持，测量系统光轴的稳定精度与稳定速度都将直接影响空间角的测量，为克服外部扰动，重点研究了测量单元光轴实时与被测轴稳定对准的原理和方法。惯性自准直测量方法中，光纤陀螺的随机噪声是测量系统姿态解算误差的主要来源，而且无法通过标定的手段消除。为保证空间角的解算精度，研究光纤陀螺的随机噪声及其滤波方法。最后，开发了惯性自准直测量原理样机，进行了相关实验，验证了测量原理和方法的正确性，为进一步工程样机的研制提供了理论和实验依据。