第24卷第5期 2016年5月
文章编号
1004-924X(2016)05-0963-08
光学精密工程
Optics and Precision Engineering
三维姿态角高精度测量装置孙国燕1,2·，高立民1，白建明1，杨东来1，潘亮1（1.中国科学院西安光学精密机械研究所，陕西西安710119
2.中国科学院大学，北京100049)
Vol. 24No.5
May.2016 m
摘要：基于二维自准直仪和坐标系旋转变换矩阵，提出一种高精度、高稳定性三维姿态角N偏偿角、
抑角和滚转角)测量
理和坐标旋转矩阵推导了理论算法。基于测量要求设计了光学系统，采用现场再综程门库列(FPGA)单芯片实现了实时双CMOS图像传感器的驱动成像、像点识别与细分定位、三维转触十算及自SR的快速通信。提出了三维测角装置的标定方法，保证了实际设备参数与理论设计数据的统一。最后对据出的滚转测量算法进行了实验验证，并分析了影
响测角精度的因素及其影响程度。标定和试验结果表明：在±20的魂逐范雷
角装置的偏摆角、俯仰角和滚转
角的测量精度分别达到了2.2"，2.5"和8.7"。该结果验证了遗计的装叠结构预单、定可靠、精度高，且易工程实现三维姿态角的测量。
关键调：三维姿态角测量；角度测量装置；二维自准具
中图分类号：TB922;TH712
文献标识码：A
艾（速/铃角进仰成：偏摆角；标定
doi:10.3788kQPE.20x62A05.0963
Highaccuracythree-dimensipnalattittdeanglemeasuringdevice
SUN Guo-yan'-2-, GAO Li-m
BAJian-yhing',YANGDong-lai',PANLiang
(1.XianInskitute
f@pjicsandPrecisionMechanics,
ChineseAcademf
SLiences，Xi'an710119,China;
2.Universityof/hineseAsadexyf Sciences,Beijing100049,China)
*Corresxoninguthor
Abstract:A high acgurack
E-mail:sunguoyan@opt.ac.cn
qeasuwing device and corresponding measuring method for three
dimensional attitudengles(yawy
pitch and roll) were designed based on an autocollimator and a
coordinate rotarytrapsArmatrix.
The working principle and structural composition were introduced.
A three-dimensjonalNit&de angle measuring model was established and the theory algorithm by coordinaterotatidpRiatrix
ras derived based on the principle of autocollimation angle measurement.
Then, the ptical ystm was designed according to the demand of the measurement system, A single Field Prograkpming Gte Array(FPGA) was used to implement double CMOS image sensor imaging,
spotjdentiyink,
subdivision positioning, three-dimensional attitude angle calculation and rapid
commqnkation ith a USB. To ensure the unity of the actual equipment parameter and design data, a gh prekispn calibration method was researched for the three-dimensional attitude angle measuring device.Fingfly, three-dimensional attitude angles were tested to verify this measuring device, and the
收稿日期：2016-01-19；修订日期：2016-03-03.
基金项目：国家自然科学基金资助项目（No.11404387）；中国科学院“西部之光"计划资助项目（No.Y329451213)