【作者】 李增；

【导师】 陈涛； 吴志勇；

【作者基本信息】 中国科学院研究生院（长春光学精密机械与物理研究所） ， 机械电子工程， 2010， 博士

【摘要】 车载机动式不落地测量是靶场光学测量设备发展的重要趋势,而光电经纬仪一旦脱离大地测量点参考,就必须测量出仪器所在的精确位置信息和方位基准,为弹道测量提供可靠的参考零点依据。自主定位定向是指利用经纬仪本身的光学望远镜系统进行天文观测来确定其所在的天文坐标点和方位零基准—真北。本文首先推导了天文导航的三角导航公式,然后研究了天文定位、定向的理论方法。在垂线偏差的形成分析的基础上,指出垂线偏差是测站弹道测量必须采用天文坐标原因。对经纬仪无源交会测量基本原理分析后,论文研究了定位、定向误差、垂线偏差对经纬仪测角精度的影响。仿真了定位、定向误差在单站、多站测量体制中弹道测量的影响,指出误差符号相异将导致最大的弹道测量误差。结合经纬仪的特点,改进天顶内插法,减小轴系误差的影响,应用矢量定位和最小二乘估计对测站天文坐标点进行解算。给出了载车平台的初始不水平度的补偿办法,采用坐标旋转法推导了平台的三维旋转与平台倾斜量和倾斜方位的关系,并且研究了九参数模型法的经纬仪外场标校。分别采用CL多小波变换,高斯曲面拟合法对星图预处理,最后计算了拍摄星图的质心,并在此基础上将天顶光轴处虚拟为主星,提出了基于该主星的适合经纬仪的局部星图识别算法。分析了时角法定向的主要误差源、包括时间和站址误差,对恒星平位置向视位置转换过程中各种误差也进行修正。采用倾角传感器测量车载经纬仪的姿态变化,在恒星回扫中采用卡尔曼滤波抑制了传感器的随机误差,提高了经纬仪的指向精度,最后给出方位角的实测值和计算的理论值,经过编码器置数定向。更多还原

【Abstract】 Trailer-mounted theodolite is the one of the most popular direction of shooting range optics measuring instrument, after changing baselines,the exact positions and reference azimuth of the instrument must be measured in order to provide spatial origion for trajectory. Trailer-mounted theodolite autonomous position and orientation means get site acronomical coordinates and zero reference azimuth—the true north by astronomical observation with its own optics telescope system.Triangle navigation formula is derived firstly,then celestial location and orientation method technology is introduced, by analyzing the generation of vertical deflection, the prinple that ballistic trajectory measuring by optical instrument must using astronomical coordinates is insured. Intersection method of theodolite is investigated, how position and orientation error as while as vertical deflection acts on angle error is given in addition, also the trajectory error caused by position and orientation error in only one or muti-sites situation is put forward in simulation,results shows that the maximal error lead by signal diffrerence.In order to reduce the axis error of the telescope,zenith-inserted-method is impr- oved combined with feature of system,multi-star vector positon mehod and least squa -res optimal estimation is used to compute astronomical coordinates,the method of compensate initial level error is also put forward,the relationship of tilt quantity and tilt azimuth between plane 3D movement is given by the coordinate rotation ,The nine parameter model is derived for the cinetheodolites field calibration. Star ima -ge is filted by CL multi-wavelet tansformation and the centroid is computed by gauss curve plane method ,then assume the zenith point as the main star to form a new star identifacaion algorithm.Time and site positon error are the primary error source of hour mehod, besides,some kind of correction are needed during switching star horizontal-position to apparent position. By reason of random error, dual-axis inclinometer is used to observe attitude change wihle theodolite working on the trailer,in the other hand,kalman filter is used in star back- scan course to improve pointing precision.Finally ,directional precision is showen by actual data.更多还原