CN104677381A - Testing system for micro-inertial measurement unit - Google Patents
Testing system for micro-inertial measurement unit Download PDFInfo
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- CN104677381A CN104677381A CN201510047990.9A CN201510047990A CN104677381A CN 104677381 A CN104677381 A CN 104677381A CN 201510047990 A CN201510047990 A CN 201510047990A CN 104677381 A CN104677381 A CN 104677381A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention relates to a testing system for a micro-inertial measurement unit, belonging to the technical field of test calibration of the micro-inertial measurement unit. According to the testing system, the micro-inertial measurement unit to be tested is arranged on a three-axle turntable; the turntable is controlled to rotate according to the test requirement by a turntable control device; an input end of an industrial personal computer is connected with the micro-inertial measurement unit arranged on the three-axle turntable by a test interface; the industrial personal computer is used for measuring and calibrating the performance parameters of the micro-inertial measurement unit by a LabView microsoftware platform; the acquired data is directly stored in a folder by the LabView platform; the data is directly read from the LabView microsoftware platform, and is calculated and processed; the testing system is high in operation efficiency; modularization is realized by the LabView microsoftware platform, so that the testing system is convenient, fast and high in portability.
Description
Technical field
The present invention relates to a kind of test macro of micro inertial measurement unit, belong to micro inertial measurement unit test calibration technical field.
Background technology
MEMS Inertial Measurement Unit has the advantage that conventional inertia device does not possess, MEMS IMU is applied on air-to-air missile and needs to carry out a series of test and test, performance index are verified accordingly, domestic still ununified industry standard, the U.S., Japan and the state such as Russian launch device and applied research all in this respect, and achieve certain achievement.Measuring technology based on LabView software platform is applied in testing apparatus, but be applied to Mierotubule-associated proteins test yet there are no use.Domestic units concerned separate test and data processing, and namely advanced row data acquiring and recording, then carries out manual process by statistical conversion, or importing Matlab calculates, and its efficiency is lower.
Summary of the invention
The object of this invention is to provide a kind of test macro of micro inertial measurement unit, separate the low problem of caused treatment effeciency with the data acquisition and processing (DAP) process solving current micro inertial measurement unit.
The present invention is for solving the problems of the technologies described above and providing a kind of test macro of micro inertial measurement unit, this test macro comprises the three-axle table for placing micro inertial measurement unit, turning table control equipment, test interface and industrial computer, described turning table control equipment connects three-axle table by turning table control Interface Controller, rotate according to test request for controlling three-axle table, the input end of described industrial computer is connected with the micro inertial measurement unit that three-axle table is installed by test interface, described industrial computer is provided with MEMS performance test unit based on LabView for testing the performance parameter of micro inertial measurement unit and demarcate.
Described MEMS performance test unit comprises bias instaility test module, acceleration demarcates factor test module, gyro constant multiplier test module and accelerometer non-linear test module, described bias instaility test module is used for the bias instaility calculating micro inertial measurement unit according to the testing algorithm of bias instaility, described acceleration demarcates factor test module for realizing demarcating accelerometer in micro inertial measurement unit the test of factor, described gyro constant multiplier test module is used for realizing Gyro Calibration factor in micro inertial measurement unit and nonlinear test, described accelerometer non-linear test module is used for realizing the nonlinear test of accelerometer in micro inertial measurement unit.
Described bias instaility test module is when carrying out bias instaility test, and micro inertial measurement unit need be energized a period of time of static setting on three-axle table.
Described acceleration demarcates factor test module when testing, and need gather data when micro inertial measurement unit is in required multiple position.
Described gyro constant multiplier test module is when testing, the measured axis of micro inertial measurement unit is vertically placed towards sky, control three-axle table to rotate around measured axis with different angular velocity, the data segment corresponding to each angular velocity is averaged, do fitting a straight line relative to the angular velocity least square method of reality, namely the slope of fitting a straight line is the constant multiplier of required gyro.
The test process of described accelerometer non-linear test module is as follows:
A. the mechanical zero of the micro-acceleration gauge of micro inertial measurement unit axle to be measured is found;
B. three-axle table is forwarded to the zero degree position of micro-acceleration gauge;
C. micro-acceleration gauge clockwise direction is made to rotate the test data obtaining setting angular position at equal intervals in turn;
D. the test data on all angles position is carried out calculating the non-linear of accelerometer.
Described MEMS performance test unit also comprises calculating display module, the input end of this calculating display module demarcates factor test module, gyro constant multiplier test module and accelerometer non-linear test model calling with bias instaility test module, acceleration, respectively for calculating and show the test parameter of each module.
Described three-axle table is the three-axle table of band high-low temperature chamber.
The invention has the beneficial effects as follows: micro inertial measurement unit to be measured is arranged on three-axle table by the present invention, control turntable by turning table control equipment to rotate according to test request, the input end of industrial computer is connected with the micro inertial measurement unit that three-axle table is installed by test interface, industrial computer is with LabView mirosoftware platform, for testing the performance parameter of micro inertial measurement unit and demarcate, what adopted is directly stored in file by the data collected based on LabView platform, directly read from LabView software platform and carry out calculating and processing, operation efficiency is high, LabView software platform can realize modularization, convenient and swift, transplantability is high.
Accompanying drawing explanation
Fig. 1 is the hardware elementary diagram of the test macro of micro inertial measurement unit of the present invention;
Fig. 2 is the theory diagram based on the MEMS performance test unit of LabView in industrial computer.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.
As shown in Figure 1, the test macro of micro inertial measurement unit of the present invention comprises three-axle table, turning table control equipment, test interface and industrial computer for placing micro inertial measurement unit to be measured, turning table control equipment connects three-axle table by turning table control Interface Controller, rotate according to test request for controlling three-axle table, the input end of industrial computer is connected with the micro inertial measurement unit that turntable is installed by test interface, industrial computer with LabView mirosoftware platform, for testing the performance parameter of micro inertial measurement unit and demarcate.
Wherein industrial computer adopts the industrial computer with PLC745S serial port board, turntable adopts the three-axle table of band high-low temperature chamber, micro inertial measurement unit MEMS IMU is arranged on three-axle table by frock clamp, ± 15V and 5V power supply are connected to industrial computer and MEMS IMU respectively by power lead, for providing working power for industrial computer and MEMS IMU, the signal output part of MEMS IMU is connected to test interface by conversion cable, and interface enters industrial computer after tested.During test, 422 numerical datas that MEMS IMU exports are through conversion cable, test interface, enter the industrial computer of band serial port board PCL745S, industrial computer the data collected to be resolved according to the data protocol of MEMS IMU based on the MEMS performance test unit of LabView and by certain algorithm realization to zero of micro-acceleration gauge in MEMS IMU and microthrust test partially, bias instaility, constant multiplier, the test of the performance parameter such as random walk of non-linear, nonorthogonality and microthrust test and demarcation.
In industrial computer based on the MEMS performance test unit of LabView as shown in Figure 2, comprise bias instaility test module, acceleration demarcates factor test module, gyro constant multiplier test module and accelerometer non-linear test module, in order to show test results in real time, this performance test unit also comprises calculating display module, and the input end of this calculating display module demarcates factor test module, gyro constant multiplier test module and accelerometer non-linear test model calling with bias instaility test module, acceleration respectively.Each test module is by the parameter of main interface module configuration testing system, and setting data memory location, the data that display in real time and store M EMS IMU export, adopt menu mode, different performance test module is connected by corresponding menu.
Bias instaility test module is used for the bias instaility calculating micro inertial measurement unit according to the testing algorithm of bias instaility, during bias instaility test, MEMS IMU is energized and leaves standstill half an hour on turntable, and the data gathering MEMS IMU in quiescing process are calculated by certain algorithm and can obtain its bias instaility.
The major function of accelerometer constant multiplier test module realizes the test to accelerometer constant multiplier, real-time display, MEMS IMU data when collection and On-board test, this part mainly tests data when MEMS IMU is in required 12 positions, by combobox select accelerometer towards, record each axle micro-acceleration gauge respectively towards sky and towards ground totally 6 groups of data, utilize micro-acceleration gauge 6 groups of data, the zero inclined of micro-acceleration gauge can be obtained by least square method, constant multiplier, constant multiplier matrix, in addition, the output data of this part MEMS IMU gyro can be used for the test to gyro susceptibility.
Gyro constant multiplier test module mainly realizes MEMS IMU Gyro Calibration factor and nonlinear test, realize display, gather and On-board test time data, this module realizes the selection to gyro test axle and test speed by two comboboxs.Measured axis is made vertically to place towards sky during test, control turntable to rotate around measured axis with the different angular velocity selected by software panel, record all data, data segment corresponding for each angular velocity is averaged, fitting a straight line is done relative to the angular velocity least square method of reality, namely the slope of fitting a straight line is the constant multiplier of microthrust test, by can be calculated the scale factory non-linearity degree of microthrust test.
Accelerometer non-linear test module mainly realizes the nonlinear test of MEMS IMU accelerometer, realize display, gather and On-board test time data.This module realizes the selection to acceleration test axle and deviation angle by two comboboxs.During test, four-point method is used to find the mechanical zero of the micro-acceleration gauge of axle to be measured, turntable is forwarded to 0 ° of position of micro-acceleration gauge, then micro-acceleration gauge clockwise direction is made to rotate, get isogonism increment Delta θ, these angle positions are tested, by the data recorded by can be calculated the non-linear of accelerometer.
Data computation module mainly realizes reading data that above-mentioned test module stores and processes accordingly according to specific algorithm and calculate, solve and show MEMS IMU micro-acceleration gauge and microthrust test zero partially, bias instaility, constant multiplier, non-linear, nonorthogonality and microthrust test the performance parameter such as random walk.This module can calculate and process current test data, the test data stored before also can calculating and process.
Claims (8)
1. the test macro of a micro inertial measurement unit, it is characterized in that, this test macro comprises the three-axle table for placing micro inertial measurement unit, turning table control equipment, test interface and industrial computer, described turning table control equipment connects three-axle table by turning table control Interface Controller, rotate according to test request for controlling three-axle table, the input end of described industrial computer is connected with the micro inertial measurement unit that three-axle table is installed by test interface, described industrial computer is provided with MEMS performance test unit based on LabView for testing the performance parameter of micro inertial measurement unit and demarcate.
2. the test macro of micro inertial measurement unit according to claim 1, it is characterized in that, described MEMS performance test unit comprises bias instaility test module, acceleration demarcates factor test module, gyro constant multiplier test module and accelerometer non-linear test module, described bias instaility test module is used for the bias instaility calculating micro inertial measurement unit according to the testing algorithm of bias instaility, described acceleration demarcates factor test module for realizing demarcating accelerometer in micro inertial measurement unit the test of factor, described gyro constant multiplier test module is used for realizing Gyro Calibration factor in micro inertial measurement unit and nonlinear test, described accelerometer non-linear test module is used for realizing the nonlinear test of accelerometer in micro inertial measurement unit.
3. the test macro of micro inertial measurement unit according to claim 2, is characterized in that, described bias instaility test module is when carrying out bias instaility test, and micro inertial measurement unit need be energized a period of time of static setting on three-axle table.
4. the test macro of micro inertial measurement unit according to claim 2, is characterized in that, described acceleration demarcates factor test module when testing, and need gather data when micro inertial measurement unit is in required multiple position.
5. the test macro of micro inertial measurement unit according to claim 2, it is characterized in that, described gyro constant multiplier test module is when testing, the measured axis of micro inertial measurement unit is vertically placed towards sky, control three-axle table to rotate around measured axis with different angular velocity, the data segment corresponding to each angular velocity is averaged, and does fitting a straight line relative to the angular velocity least square method of reality, and namely the slope of fitting a straight line is the constant multiplier of required gyro.
6. the test macro of micro inertial measurement unit according to claim 2, is characterized in that, the test process of described accelerometer non-linear test module is as follows:
A. the mechanical zero of the micro-acceleration gauge of micro inertial measurement unit axle to be measured is found;
B. three-axle table is forwarded to the zero degree position of micro-acceleration gauge;
C. micro-acceleration gauge clockwise direction is made to rotate the test data obtaining setting angular position at equal intervals in turn;
D. the test data on all angles position is carried out calculating the non-linear of accelerometer.
7. the test macro of micro inertial measurement unit according to claim 2, it is characterized in that, described MEMS performance test unit also comprises calculating display module, the input end of this calculating display module demarcates factor test module, gyro constant multiplier test module and accelerometer non-linear test model calling with bias instaility test module, acceleration, respectively for calculating and show the test parameter of each module.
8. the test macro of the micro inertial measurement unit according to any one of claim 1-7, is characterized in that, described three-axle table is the three-axle table of band high-low temperature chamber.
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Cited By (18)
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| CN105043412A (en) * | 2015-06-05 | 2015-11-11 | 北京信息科技大学 | Error compensation method for inertial measurement unit |
| CN105823382A (en) * | 2016-04-25 | 2016-08-03 | 中国人民解放军63908部队 | Testing and simulating device for gyro of guided munition |
| CN105842564A (en) * | 2015-12-31 | 2016-08-10 | 西安航天精密机电研究所 | CPCI computer based platform unit testing instrument |
| CN106643809A (en) * | 2017-02-06 | 2017-05-10 | 成都振芯科技股份有限公司 | MEMS gyroscope test device, system and method |
| CN107289969A (en) * | 2016-04-01 | 2017-10-24 | 南京理工大学 | A kind of MEMS inertial sensor automatic batch scaling method and system |
| CN108007475A (en) * | 2016-10-27 | 2018-05-08 | 恩智浦美国有限公司 | MEMS devices test system and method |
| CN110057384A (en) * | 2019-05-30 | 2019-07-26 | 中国船舶重工集团公司第七0七研究所 | Accelerometer test macro and method based on 902C-3 type double axle table |
| CN110542430A (en) * | 2019-07-24 | 2019-12-06 | 北京控制工程研究所 | large dynamic performance testing device and method for inertial measurement unit |
| CN110779523A (en) * | 2019-10-16 | 2020-02-11 | 中国航空工业集团公司洛阳电光设备研究所 | Inertial measurement unit testing platform based on LabWindows/CVI |
| CN110940352A (en) * | 2019-11-08 | 2020-03-31 | 中国计量科学研究院 | Automatic calibration system of micro-electro-mechanical system inertia measurement unit and calibration verification method thereof |
| CN111044079A (en) * | 2019-12-27 | 2020-04-21 | 北京航天飞腾装备技术有限责任公司 | Testing method and tester for inertia measuring unit |
| CN112697173A (en) * | 2021-01-31 | 2021-04-23 | 南京理工大学 | Automatic calibration test system and method for MEMS inertial device |
| CN112985454A (en) * | 2019-12-16 | 2021-06-18 | 北京华航无线电测量研究所 | Device and method for testing zero offset parameter of gyroscope in inertial navigation system device |
| CN113295887A (en) * | 2021-05-14 | 2021-08-24 | 北京开拓航宇导控科技有限公司 | Method for quickly calibrating cross coupling coefficient of micro-electromechanical triaxial accelerometer |
| CN113483785A (en) * | 2021-07-06 | 2021-10-08 | 北京理工导航控制科技股份有限公司 | Three-axis one-body temperature circulating aging and IF test system |
| CN114018286A (en) * | 2021-11-04 | 2022-02-08 | 南京理工大学 | Full-automatic/manual batch calibration system and method for micro-inertia measurement unit |
| CN114111844A (en) * | 2021-12-06 | 2022-03-01 | 中国电子科技集团公司第十三研究所 | MEMS inertial device test system |
| CN114199280A (en) * | 2021-12-10 | 2022-03-18 | 中国兵器工业集团第二一四研究所苏州研发中心 | Batch calibration and error compensation system and method for micro-inertia measurement assembly |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105043412A (en) * | 2015-06-05 | 2015-11-11 | 北京信息科技大学 | Error compensation method for inertial measurement unit |
| CN105842564A (en) * | 2015-12-31 | 2016-08-10 | 西安航天精密机电研究所 | CPCI computer based platform unit testing instrument |
| CN107289969A (en) * | 2016-04-01 | 2017-10-24 | 南京理工大学 | A kind of MEMS inertial sensor automatic batch scaling method and system |
| CN105823382A (en) * | 2016-04-25 | 2016-08-03 | 中国人民解放军63908部队 | Testing and simulating device for gyro of guided munition |
| CN105823382B (en) * | 2016-04-25 | 2018-01-16 | 中国人民解放军63908部队 | A kind of guided munition gyroscope test emulation device |
| CN108007475A (en) * | 2016-10-27 | 2018-05-08 | 恩智浦美国有限公司 | MEMS devices test system and method |
| CN106643809B (en) * | 2017-02-06 | 2020-11-03 | 成都振芯科技股份有限公司 | MEMS gyroscope testing device, system and method |
| CN106643809A (en) * | 2017-02-06 | 2017-05-10 | 成都振芯科技股份有限公司 | MEMS gyroscope test device, system and method |
| CN110057384B (en) * | 2019-05-30 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | Accelerometer test system and method based on 902C-3 type double-shaft rotary table |
| CN110057384A (en) * | 2019-05-30 | 2019-07-26 | 中国船舶重工集团公司第七0七研究所 | Accelerometer test macro and method based on 902C-3 type double axle table |
| CN110542430A (en) * | 2019-07-24 | 2019-12-06 | 北京控制工程研究所 | large dynamic performance testing device and method for inertial measurement unit |
| CN110542430B (en) * | 2019-07-24 | 2021-06-11 | 北京控制工程研究所 | Large dynamic performance testing device and method for inertial measurement unit |
| CN110779523A (en) * | 2019-10-16 | 2020-02-11 | 中国航空工业集团公司洛阳电光设备研究所 | Inertial measurement unit testing platform based on LabWindows/CVI |
| CN110940352A (en) * | 2019-11-08 | 2020-03-31 | 中国计量科学研究院 | Automatic calibration system of micro-electro-mechanical system inertia measurement unit and calibration verification method thereof |
| CN110940352B (en) * | 2019-11-08 | 2022-03-08 | 中国计量科学研究院 | Automatic calibration system of micro-electro-mechanical system inertia measurement unit and calibration verification method thereof |
| CN112985454A (en) * | 2019-12-16 | 2021-06-18 | 北京华航无线电测量研究所 | Device and method for testing zero offset parameter of gyroscope in inertial navigation system device |
| CN111044079A (en) * | 2019-12-27 | 2020-04-21 | 北京航天飞腾装备技术有限责任公司 | Testing method and tester for inertia measuring unit |
| CN111044079B (en) * | 2019-12-27 | 2022-10-04 | 北京航天飞腾装备技术有限责任公司 | Testing method and tester for inertia measuring unit |
| CN112697173A (en) * | 2021-01-31 | 2021-04-23 | 南京理工大学 | Automatic calibration test system and method for MEMS inertial device |
| CN113295887A (en) * | 2021-05-14 | 2021-08-24 | 北京开拓航宇导控科技有限公司 | Method for quickly calibrating cross coupling coefficient of micro-electromechanical triaxial accelerometer |
| CN113295887B (en) * | 2021-05-14 | 2024-04-05 | 开拓导航控制技术股份有限公司 | Rapid calibration method for cross coupling coefficient of micro-electromechanical triaxial accelerometer |
| CN113483785A (en) * | 2021-07-06 | 2021-10-08 | 北京理工导航控制科技股份有限公司 | Three-axis one-body temperature circulating aging and IF test system |
| CN114018286A (en) * | 2021-11-04 | 2022-02-08 | 南京理工大学 | Full-automatic/manual batch calibration system and method for micro-inertia measurement unit |
| CN114111844A (en) * | 2021-12-06 | 2022-03-01 | 中国电子科技集团公司第十三研究所 | MEMS inertial device test system |
| CN114111844B (en) * | 2021-12-06 | 2024-04-16 | 中国电子科技集团公司第十三研究所 | MEMS inertial device test system |
| CN114199280A (en) * | 2021-12-10 | 2022-03-18 | 中国兵器工业集团第二一四研究所苏州研发中心 | Batch calibration and error compensation system and method for micro-inertia measurement assembly |
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