CN203857967U - Initial posture field calibration system of combined guidance system - Google Patents
Initial posture field calibration system of combined guidance system Download PDFInfo
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- CN203857967U CN203857967U CN201420243230.6U CN201420243230U CN203857967U CN 203857967 U CN203857967 U CN 203857967U CN 201420243230 U CN201420243230 U CN 201420243230U CN 203857967 U CN203857967 U CN 203857967U
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Abstract
The utility model relates to the technical field of initial posture angular difference metering and calibrating, and particularly discloses an initial posture field calibration system and method of a combined guidance system. A collimation reticle A of a first optical path system in the system irradiates a strapdown inertial benchmark arris body via the first optical path system, and then reflects on a linear array CCD (charge coupled device) A; a collimation reticle B1 and a collimation reticle B2 in a second optical path system irradiate the strapdown inertial benchmark arris body via the second optical path system, and then respectively reflect on a linear array CCD B1 and a linear array CCD B2; a collimation reticle C of a third optical path system irradiates a star sensitive sensor benchmark arris body via the third optical path system, and then reflects on a linear array CCD C; a collimation reticle D1 and a collimation reticle D2 of a fourth optical path system bypass the fourth optical path system, and respectively reflect on a linear array CCD D1 and a linear array CCD D2. The photoelectricity angle measurement in the system is high in precision, and four self-collimation optical paths are integrated, so that the structure is simple, and the operation is convenient and rapid.
Description
Technical field
The invention belongs to initial attitude differential seat angle measurement and calibration technical field, be specifically related to a kind of combined guidance system initial attitude field calibration system.
Background technology
The new period China in the exploration of space industry round launching a man-made satellite., manned space flight and this three large systematic engineering of business of survey of deep space launch, New Launch adapts to continuous many days launch windows by possessing, slides for a long time, pin-point accuracy is entered the orbit and the ability of high reliability flight, wherein the precision to rocket navigational system, reliability have proposed more strict requirement for these, single navigate mode has been difficult to meet while growing boat, the navigation request of pin-point accuracy, will progressively adopt strapdown to be used to group/star sensor combined guidance mode.
Strapdown is used to group/star sensor complex navigation system, taking strapdown inertial navitation system (SINS) as main, make full use of the high and error of the attitude output accuracy of star sensor not along with the advantage of accumulated time, the mathematical platform attitude error of in real time strapdown being used to group is revised, and effectively improves navigational system precision.
Be used in group/star sensor combined guidance system at strapdown, it is particularly important that strapdown is used to initial attitude relative position between group and star sensor, must before taking off, rocket go out attitude differential seat angle between the two by accurate calibration, obtain the initial attitude benchmark of starlight sensor, for subsequent navigation is controlled and laid the foundation with guidance.
The demarcation of domestic inertial guidance industry to initial attitude between each guidance unit, initial stage is the backing pin location, location relying on instrument room installing plate, position of related features between the backing pin line of location only depends on machining accuracy to ensure, then be close to location backing pin being separately respectively used to group and star sensor, think that the angular displacement of two guidance unit meets the margin tolerance of layout design, also without concrete actual value.Developed into afterwards and utilized many transit composition measuring systems, every theodolite telescope reflecting surface collimation corresponding to guidance unit outside reference rib body respectively.Wherein, the differential seat angle of two benchmark rib bodies in pitching and rolling direction measured, first measure two benchmark rib body reflective surface normals respectively with the angle of the earth surface level, and then calculate the two difference.In this measuring process, the vertical pivot leveling error that comprises two transits and artificially collimating line error, these two errors are directly brought 1:1 in measurement data, have a strong impact on the accuracy of measurement result.In the time measuring the differential seat angle of two benchmark rib bodies on yaw direction, also by self error of other two transits with bring in measurement result taking aim at error.Although the latter's the scaling method defects such as relatively the former is comparatively reasonable, and the configuration quantity of measuring equipment is more, and instrument sets up complexity, and process of measurement is loaded down with trivial details, measuring error Xiang Duo, cause the accuracy of measurement result to reduce.While using in addition transit to measure, require necessary intervisibility between transit and tested benchmark rib body, but due to the limitation of measurement field environment, can not meet the requirement of measurement environment, cause the measurement that can not complete 3 d pose, the attitude that can only measure one dimension or bidimensional is poor.
Summary of the invention
The object of the present invention is to provide a kind of combined guidance system initial attitude field calibration system, quick, convenient, complete strapdown in guiding systems exactly and be used to the poor sync site calibration of initial attitude three-dimensional perspective between group and star sensor.
Technical scheme of the present invention is as follows: a kind of combined guidance system initial attitude field calibration system, this system comprises the first light path system, the second light path system, the 3rd light path system and the 4th light path system, wherein, the collimation graticule A of the first light path system is radiated at strapdown through the first light path system and is used to organize after benchmark rib body, reflexes on the line array CCD device A in the first light path system; Collimation graticule B in the second light path system
1with collimation graticule B
2be radiated at strapdown through the second light path system and be used to organize after benchmark rib body, reflex to respectively the line array CCD device B in the second light path system
1line array CCD device B
2on; The collimation graticule C of the 3rd light path system, after the 3rd light path system is radiated at star sensor benchmark rib body, reflexes on the line array CCD device C of the 3rd light path system; The collimation graticule D of the 4th light path system
1and collimation graticule D
2after the 4th light path system, reflex to respectively the line array CCD device D in the 4th light path system
1with line array CCD device D
2on.
The first described light path system comprises object lens A, correcting lens A, pentagonal prism A, Amici prism A
1and collimation graticule A, wherein, the light path I that collimation graticule A produces is through Amici prism A
1with Amici prism A
2after entering successively correcting lens A and object lens A after reflection, form parallel beam, this parallel beam incident strapdown after pentagonal prism A turns to 90 ° is used to organize benchmark rib body reflecting surface, the light path I of being used to organize after the reflection of benchmark rib body reflecting surface by strapdown is passed through after pentagonal prism A, object lens A and correcting lens A, through Amici prism A successively
2after reflection, see through Amici prism A
1be imaged on line array CCD device A upper, in the time that strapdown is used to organize benchmark rib body reflecting surface perpendicular to primary optical axis, reflection ray just in time converges in the center of line array CCD device A, i.e. initial zero-bit position.
The second described light path system comprises object lens B, Amici prism B
1, Amici prism B
2, Amici prism B
3, collimation graticule B
1and collimation graticule B
2, wherein, collimation graticule B
1with collimation graticule B
2pass through respectively Amici prism B
1, Amici prism B
2reflection, and Amici prism B
3, Amici prism B
2after transmission, form light path II, light path II forms another reflecting surface that vertical incidence strapdown after directional light is used to organize benchmark rib body successively after correcting lens B, object lens B, is used to organize light path II after the reflection of benchmark rib body successively by incident Amici prism B after object lens B, correcting lens B through strapdown
2, light path II is through Amici prism B
2after reflection and transmission, be divided into two orthogonal light paths, a light path is through Amici prism B
2after reflection, see through Amici prism B
1be imaged on line array CCD device B
1upper, another light path is through Amici prism B
2after transmission by Amici prism B
3catoptric imaging is at line array CCD device B
2upper, be used to organize benchmark rib body reflecting surface in the time that vertical primary optical axis both direction deflects when strapdown, can calculate the deflection angle value that strapdown is used to organize benchmark rib body bidimensional.
The 3rd described light path system comprises object lens C, correcting lens C, pentagonal prism B, Amici prism A
3and collimation graticule C, wherein, the light path III that collimation graticule C produces is through Amici prism A
3with Amici prism A
2after entering successively correcting lens C and object lens C after reflection, form parallel beam, this parallel beam is incident star sensor benchmark rib body reflecting surface after pentagonal prism B turns to 90 °, light path III after logical star sensor benchmark rib body reflecting surface reflection is successively by after pentagonal prism B, object lens C and correcting lens C, through Amici prism A
2after reflection, see through Amici prism A
3be imaged on line array CCD device C upper, when star sensor benchmark rib body reflecting surface is during perpendicular to primary optical axis, reflection ray just in time converges in the center of line array CCD device C, i.e. initial zero-bit position; In the time that star sensor benchmark rib body reflecting surface deflects, reflection ray converges and will depart from line array CCD device C center, utilizes the distance that departs from line array CCD device C center, can calculate the angle value of star sensor benchmark rib body deflection.
The 4th described light path system comprises object lens D, Amici prism D
1, Amici prism D
2, Amici prism D
3, collimation graticule D
1and collimation graticule D
2, wherein, collimation graticule D
1with collimation graticule D
2pass through respectively Amici prism D
1, Amici prism D
2reflection, and Amici prism D
3, Amici prism D
2after transmission, form light path IV, light path IV forms another reflecting surface of vertical incidence star sensor benchmark rib body after directional light successively after correcting lens D, object lens D, and the light path IV after the reflection of star sensor benchmark rib body is successively by incident Amici prism D after object lens D, correcting lens D
2, light path IV is through Amici prism D
2after reflection and transmission, be divided into two orthogonal light paths, a light path is through Amici prism D
2after reflection, see through Amici prism D
1be imaged on line array CCD device D
1upper, another light path is through Amici prism D
2after transmission by Amici prism D
3catoptric imaging is at line array CCD device D
2upper, when star sensor benchmark rib body reflecting surface is in the time that vertical primary optical axis both direction deflects, can calculate the deflection angle value of star sensor benchmark rib body bidimensional.
Remarkable result of the present invention is: a kind of combined guidance system initial attitude field calibration system and method for the present invention, and the photoeletric measuring system in this system is integrated in one four autocollimation light paths, simple in structure, simple operation; The own measuring accuracy of photoelectricity angle measurement in this calibration system and method is high, meanwhile, has eliminated the difference between error and the operator that artificial aligning brings, and has ensured the pin-point accuracy of measurement result; Meanwhile, this field calibration system is erected at strapdown is used to, on the installation base plate of group and star sensor, even rock in measuring process, also can not exert an influence to measurement result, has strengthened environmental suitability.
Brief description of the drawings
Fig. 1 is combined guidance system initial attitude field calibration system architecture schematic diagram of the present invention;
In figure: 1, object lens A; 2, Amici prism A
3; 3, correcting lens A; 4, pentagonal prism A; 5, Amici prism A
2; 6, Amici prism A
1; 7, line array CCD device C; 8, line array CCD device A; 9, collimation graticule C; 10, collimation graticule A; 11, object lens B; 12, correcting lens B; 13, Amici prism B
1; 14, Amici prism B
2; 15, Amici prism B
3; 16, line array CCD device B
1; 17, line array CCD device B
2; 18, collimation graticule B
1; 19, collimation graticule B
2; 20, object lens C; 21, correcting lens C; 22, pentagonal prism B; 23, object lens D; 24, correcting lens D; 25, Amici prism D
1; 26, Amici prism D
2; 27, Amici prism D
3; 28, line array CCD device D
1; 29, line array CCD device D
2; 30, collimation graticule D
1; 31, collimation graticule D
2; 32, star sensor benchmark rib body; 33, strapdown is used to organize benchmark rib body.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
As shown in Figure 1, a kind of combined guidance system initial attitude field calibration system, this system comprises the first light path system, the second light path system, the 3rd light path system and the 4th light path system, wherein, the first light path system specifically comprises object lens A1, correcting lens A3, pentagonal prism A4, Amici prism A
16 and collimation graticule A10, wherein, the light path I that collimation graticule A10 produces is through Amici prism A
16 and Amici prism A
2after entering successively correcting lens A3 and object lens A1 after 5 reflections, form parallel beam, this parallel beam incident strapdown after pentagonal prism A4 turns to 90 ° is used to organize benchmark rib body 33 reflectings surface, the light path I of being used to organize after the 33 reflecting surface reflections of benchmark rib body by strapdown is passed through after pentagonal prism A4, object lens A1 and correcting lens A3, through Amici prism A successively
2after 5 reflections, see through Amici prism A
16 are imaged on line array CCD device A8 above, and in the time that strapdown is used to organize benchmark rib body 33 reflectings surface perpendicular to primary optical axis, reflection ray just in time converges in the center of line array CCD device A8, i.e. initial zero-bit position; In the time that strapdown is used to organize benchmark rib body 33 reflectings surface and is deflected, reflection ray converges and will depart from line array CCD device A8 center, utilizes the distance that departs from line array CCD device A8 center, can calculate the angle value that strapdown is used to organize 33 deflections of benchmark rib body.The second light path system comprises object lens B11, Amici prism B
113, Amici prism B
214, Amici prism B
315, collimation graticule B
118 and collimation graticule B
219, wherein, collimation graticule B
118 and collimation graticule B
219 pass through respectively Amici prism B
113, Amici prism B
214 reflections, and Amici prism B
315, Amici prism B
2after 14 transmissions, form light path II, light path II forms another reflecting surface that vertical incidence strapdown after directional light is used to organize benchmark rib body 33 successively after correcting lens B12, object lens B11, is used to organize light path II after 33 reflections of benchmark rib body successively by incident Amici prism B after object lens B11, correcting lens B12 through strapdown
214, light path II is through Amici prism B
2after 14 reflections and transmission, be divided into two orthogonal light paths, a light path is through Amici prism B
2after 14 reflections, see through Amici prism B
113 are imaged on line array CCD device B
1on 16, another light path is through Amici prism B
2after 14 transmissions by Amici prism B
315 catoptric imagings are at line array CCD device B
2on 17, be used to organize benchmark rib body 33 reflectings surface in the time that vertical primary optical axis both direction deflects when strapdown, can calculate the deflection angle value that strapdown is used to organize benchmark rib body 33 bidimensionals.The 3rd light path system comprises object lens C20, correcting lens C21, pentagonal prism B22, Amici prism A
32 and collimation graticule C9, wherein, the light path III that collimation graticule C9 produces is through Amici prism A
32 and Amici prism A
2after entering successively correcting lens C21 and object lens C20 after 5 reflections, form parallel beam, this parallel beam is incident star sensor benchmark rib body 32 reflectings surface after pentagonal prism B22 turns to 90 °, light path III after logical star sensor benchmark rib body 32 reflecting surface reflections is successively by after pentagonal prism B22, object lens C20 and correcting lens C21, through Amici prism A
2after 5 reflections, see through Amici prism A
32 to be imaged on line array CCD device C7 upper, and when star sensor benchmark rib body 32 reflectings surface are during perpendicular to primary optical axis, reflection ray just in time converges in the center of line array CCD device C7, i.e. initial zero-bit position; In the time that star sensor benchmark rib body 32 reflectings surface deflect, reflection ray converges and will depart from line array CCD device C7 center, utilizes the distance that departs from line array CCD device C7 center, can calculate the angle value of star sensor benchmark rib body 32 deflections.The 4th light path system comprises object lens D23, Amici prism D
125, Amici prism D
226, Amici prism D
327, collimation graticule D
130 and collimation graticule D
231, wherein, collimation graticule D
130 and collimation graticule D
231 pass through respectively Amici prism D
125, Amici prism D
226 reflections, and Amici prism D
327, Amici prism D
2after 26 transmissions, form light path IV, light path IV forms another reflecting surface of vertical incidence star sensor benchmark rib body 32 after directional light successively after correcting lens D24, object lens D23, and the light path IV after 32 reflections of star sensor benchmark rib body is successively by incident Amici prism D after object lens D23, correcting lens D24
226, light path IV is through Amici prism D
2after 26 reflections and transmission, be divided into two orthogonal light paths, a light path is through Amici prism D
2after 26 reflections, see through Amici prism D
125 are imaged on line array CCD device D
1on 28, another light path is through Amici prism D
2after 26 transmissions by Amici prism D
327 catoptric imagings are at line array CCD device D
2on 29, when star sensor benchmark rib body 32 reflectings surface are in the time that vertical primary optical axis both direction deflects, can calculate the deflection angle value of star sensor benchmark rib body 32 bidimensionals.
In combined guidance system initial attitude field calibration system of the present invention, the first light path system and the second light path system form the left side of whole calibration system and measure optical axis, complete the measurement that strapdown is used to organize benchmark rib body 33 three-dimension altitude angles; The 3rd light path system and the 4th light path system form the right side of whole calibration system and measure optical axis, complete the measurement of star sensor benchmark rib body 32 three-dimension altitude angles; Strapdown is used to organize benchmark rib body 33 and is used to organize outside reference for strapdown, and star sensor benchmark rib body 32 is star sensor outside reference, and they are used to the inertial coordinate of group with strapdown respectively and the measurement optical axis alignment error of star sensor is determined.Light path II in this calibration system and light path IV are used to organize benchmark rib body 33 with strapdown respectively, star sensor benchmark rib body 32 collimates, and can measure two benchmark rib bodies in driftage and relative self zero-bit optical axis deflection angle value on pitching both direction, light path I and light path III are measured respectively two benchmark rib bodies relative self zero-bit optical axis deflection angle value in rolling direction.
Claims (5)
1. a combined guidance system initial attitude field calibration system, it is characterized in that: this system comprises the first light path system, the second light path system, the 3rd light path system and the 4th light path system, wherein, the collimation graticule A (10) of the first light path system is radiated at strapdown through the first light path system and is used to organize after benchmark rib body (33), reflexes on the line array CCD device A (8) in the first light path system; Collimation graticule B in the second light path system
1and collimation graticule B (18)
2(19) be radiated at strapdown through the second light path system and be used to organize after benchmark rib body (33), reflex to respectively the line array CCD device B in the second light path system
1(16) line array CCD device B
2(17) on; The collimation graticule C (9) of the 3rd light path system, after the 3rd light path system is radiated at star sensor benchmark rib body (32), reflexes on the line array CCD device C (7) of the 3rd light path system; The collimation graticule D of the 4th light path system
1and collimation graticule D (30)
2(31), after the 4th light path system, reflex to respectively the line array CCD device D in the 4th light path system
1and line array CCD device D (28)
2(29) on.
2. a kind of combined guidance system initial attitude field calibration system according to claim 1, is characterized in that: the first described light path system comprises object lens A (1), correcting lens A (3), pentagonal prism A (4), Amici prism A
1(6) and collimation graticule A (10), wherein, the light path I that collimation graticule A (10) produces is through Amici prism A
1and Amici prism A (6)
2(5) after reflection, enter successively the rear parallel beam that forms of correcting lens A (3) and object lens A (1), this parallel beam incident strapdown after pentagonal prism A (4) turns to 90 ° is used to organize benchmark rib body (33) reflecting surface, the light path I of being used to organize after the reflection of benchmark rib body (33) reflecting surface by strapdown is passed through after pentagonal prism A (4), object lens A (1) and correcting lens A (3), through Amici prism A successively
2(5) after reflection, see through Amici prism A
1(6) be imaged on line array CCD device A (8), in the time that strapdown is used to organize benchmark rib body (33) reflecting surface perpendicular to primary optical axis, reflection ray just in time converges in the center of line array CCD device A (8), i.e. initial zero-bit position.
3. a kind of combined guidance system initial attitude field calibration system according to claim 1, is characterized in that: the second described light path system comprises object lens B (11), Amici prism B
1(13), Amici prism B
2(14), Amici prism B
3(15), collimation graticule B
1and collimation graticule B (18)
2(19), wherein, collimation graticule B
1and collimation graticule B (18)
2(19) pass through respectively Amici prism B
1(13), Amici prism B
2(14) reflection, and Amici prism B
3(15), Amici prism B
2(14) after transmission, form light path II, light path II forms another reflecting surface that vertical incidence strapdown after directional light is used to organize benchmark rib body (33) successively after correcting lens B (12), object lens B (11), is used to organize light path II after benchmark rib body (33) reflection successively by object lens B (11), correcting lens B (12) incident Amici prism B afterwards through strapdown
2(14), light path II is through Amici prism B
2(14) after reflection and transmission, be divided into two orthogonal light paths, a light path is through Amici prism B
2(14) after reflection, see through Amici prism B
1(13) be imaged on line array CCD device B
1(16) upper, another light path is through Amici prism B
2(14) after transmission by Amici prism B
3(15) catoptric imaging is at line array CCD device B
2(17) upper, be used to organize benchmark rib body (33) reflecting surface in the time that vertical primary optical axis both direction deflects when strapdown, can calculate the deflection angle value that strapdown is used to organize benchmark rib body (33) bidimensional.
4. a kind of combined guidance system initial attitude field calibration system according to claim 1, is characterized in that: the 3rd described light path system comprises object lens C (20), correcting lens C (21), pentagonal prism B (22), Amici prism A
3(2) and collimation graticule C (9), wherein, the light path III that collimation graticule C (9) produces is through Amici prism A
3and Amici prism A (2)
2(5) after reflection, enter successively the rear parallel beam that forms of correcting lens C (21) and object lens C (20), this parallel beam is incident star sensor benchmark rib body (32) reflecting surface after pentagonal prism B (22) turns to 90 °, light path III after logical star sensor benchmark rib body (32) reflecting surface reflection is successively by after pentagonal prism B (22), object lens C (20) and correcting lens C (21), through Amici prism A
2(5) after reflection, see through Amici prism A
3(2) be imaged on line array CCD device C (7), when star sensor benchmark rib body (32) reflecting surface is during perpendicular to primary optical axis, reflection ray just in time converges in the center of line array CCD device C (7), i.e. initial zero-bit position; In the time that star sensor benchmark rib body (32) reflecting surface deflects, reflection ray converges and will depart from line array CCD device C (7) center, utilization departs from the distance of line array CCD device C (7) center, can calculate the angle value of star sensor benchmark rib body (32) deflection.
5. a kind of combined guidance system initial attitude field calibration system according to claim 1, is characterized in that: the 4th described light path system comprises object lens D (23), Amici prism D
1(25), Amici prism D
2(26), Amici prism D
3(27), collimation graticule D
1and collimation graticule D (30)
2(31), wherein, collimation graticule D
1and collimation graticule D (30)
2(31) pass through respectively Amici prism D
1(25), Amici prism D
2(26) reflection, and Amici prism D
3(27), Amici prism D
2(26) after transmission, form light path IV, light path IV forms another reflecting surface of vertical incidence star sensor benchmark rib body (32) after directional light successively after correcting lens D (24), object lens D (23), and the light path IV after star sensor benchmark rib body (32) reflection is successively by object lens D (23), correcting lens D (24) incident Amici prism D afterwards
2(26), light path IV is through Amici prism D
2(26) after reflection and transmission, be divided into two orthogonal light paths, a light path is through Amici prism D
2(26) after reflection, see through Amici prism D
1(25) be imaged on line array CCD device D
1(28) upper, another light path is through Amici prism D
2(26) after transmission by Amici prism D
3(27) catoptric imaging is at line array CCD device D
2(29) upper, when star sensor benchmark rib body (32) reflecting surface is in the time that vertical primary optical axis both direction deflects, can calculate the deflection angle value of star sensor benchmark rib body (32) bidimensional.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104880200A (en) * | 2014-05-13 | 2015-09-02 | 北京航天计量测试技术研究所 | Composite guidance system initial attitude on-site calibration system and method |
| CN105716478A (en) * | 2014-12-05 | 2016-06-29 | 上海新跃仪表厂 | Calibrating device for infrared microwave composite target source |
| CN106441371A (en) * | 2016-11-23 | 2017-02-22 | 西安富图精密仪器有限公司 | Special verification/calibration device for digital level |
| CN109141468A (en) * | 2017-06-15 | 2019-01-04 | 北京航天计量测试技术研究所 | The caliberating device at spaceborne mapping system reference attitude angle in thermal vacuum environment |
| CN109459055A (en) * | 2018-11-01 | 2019-03-12 | 北京航天计量测试技术研究所 | A kind of reference attitude Multi-sensor Fusion networking measuring device |
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2014
- 2014-05-13 CN CN201420243230.6U patent/CN203857967U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104880200A (en) * | 2014-05-13 | 2015-09-02 | 北京航天计量测试技术研究所 | Composite guidance system initial attitude on-site calibration system and method |
| CN104880200B (en) * | 2014-05-13 | 2017-12-22 | 北京航天计量测试技术研究所 | Combined guidance system initial attitude field calibration system and method |
| CN105716478A (en) * | 2014-12-05 | 2016-06-29 | 上海新跃仪表厂 | Calibrating device for infrared microwave composite target source |
| CN106441371A (en) * | 2016-11-23 | 2017-02-22 | 西安富图精密仪器有限公司 | Special verification/calibration device for digital level |
| CN106441371B (en) * | 2016-11-23 | 2023-03-03 | 西安富图精密仪器有限公司 | Special verification/calibration device for digital level |
| CN109141468A (en) * | 2017-06-15 | 2019-01-04 | 北京航天计量测试技术研究所 | The caliberating device at spaceborne mapping system reference attitude angle in thermal vacuum environment |
| CN109459055A (en) * | 2018-11-01 | 2019-03-12 | 北京航天计量测试技术研究所 | A kind of reference attitude Multi-sensor Fusion networking measuring device |
| CN109459055B (en) * | 2018-11-01 | 2022-06-28 | 北京航天计量测试技术研究所 | Reference attitude multi-sensor fusion networking measuring device |
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