第六章 角度及角位移的测量.ppt

Measurement of position and attitude 满足航空航天中瞄准和定位、空间坐标测量、空间物体合作移动等任务中对于位姿测量定位的需求，如无人飞机自动加油和着舰、飞船对接、飞行员头盔瞄准定位等。 Measurement of position and attitude * Measurement?of?little?angle?with?laser?interference Angular measurement by variation of light optical path High-accuracy measurement Direct measurement——relative measurement Principle: Resolution:0.002 Range:10° Application: measuring reference of little angle(America, Japan, German, Russia) Measurement?of?little?angle?with?laser?interference Laser 光电元件I 光电元件II α H R 正弦臂 Direct measurement——relative measurement Measurement?of?little?angle?with?laser?interference 激光器 分光镜 参考镜 反射镜 角锥棱镜 Direct measurement——relative measurement In-direct measurement-Coordinate measurement Principle: In-direct measurement-Coordinate measurement Two-coordinate measuring machine – Tool maker microscope In-direct measurement-Platform?measurement Principle: Height of gauge block 量块 正弦规 被测工件 百分表 测量误差与测量角度α有关，测量角度α越大测量误差越大。为了保证角度测量精度，正弦规一般用于小于45°的角度测量。 In-direct measurement-Platform?measurement Ring laser angle measurement Sagnac effect 将同一光源发出的一束光分解为两束，让它们在同一个环路内沿相反方向传输，当环路以一定角速度旋转时，这两束光之间将产生一个与旋转角速度成正比的相位差 In-direct measurement-Other?measurement Ring laser angle measurement Measuring principle 接收器 棱镜 半透半反镜 激光器 反射镜 反射镜 谐振腔 In-direct measurement-Other?measurement Ring laser 激光器谐振条件：谐振腔总长度L必须等于波长λ的整数倍。 Ring laser Ring laser 6.3 Measurement of circle indexing error Evaluating index of circle indexing error Measuring method of circle indexing error Measurement of circle indexing error of dial Measurement of circle indexing error of polygonal?Prism Measurement of gear pitch error Evaluating index of circle indexing error Circle indexing error Every dividing reticle has a theoretical position on dial( decided by circular closed principle). The deviation of the actual position and the theoretical position of a reticle is called circle indexing error, and is shown with θi . Indexing error from zero The theoretical positions of all reticles are