CN104713572A - Inertial navigation system dynamic testing method - Google Patents
Inertial navigation system dynamic testing method Download PDFInfo
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- CN104713572A CN104713572A CN201310675186.6A CN201310675186A CN104713572A CN 104713572 A CN104713572 A CN 104713572A CN 201310675186 A CN201310675186 A CN 201310675186A CN 104713572 A CN104713572 A CN 104713572A
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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
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Abstract
The invention belongs to the technical field of inertial navigation, and relates to an inertial navigation system dynamic testing method. The method comprises the following steps: (1) triaxial tumbling; (2) triaxial swinging; (3) swirling. The provided method can greatly improve the system stability, the recurrence rate of loop fault and lock-releasing fault is reduced, the labor, resource, and time are saved, the efficiency is improved, and the cost is reduced.
Description
Technical field
The invention belongs to inertial navigation technology, relate to a kind of inertial navigation system dynamic testing method.
Background technology
Certain type inertial navigation system often reports stable loop fault and lock to put fault in line, but after getting back to internal field, fault does not usually reappear.The fault reproducing method of current system is limited, is all cold tests substantially, environmental test does entirely, because system internal field environment for use and outfield difference are very large, causes outfield problem not reappear.Its shortcoming is: the man power and material of consumption is many, and efficiency is low, and cost is high, causes the time of reprocessing of system long.
Summary of the invention
Technical matters to be solved by this invention is: propose the dynamic environment method of testing of a kind of energy simulation system when line, simulation system, in the dynamic environment of line, reappears middle occurred system report stable loop fault and lock and exposure is in advance taken a flight test and puts failure problems.
The technical scheme that the present invention takes is: a kind of inertial navigation system dynamic testing method, is characterized by and said method comprising the steps of:
1) three axle rollings:
1.1) inertial navigation system is arranged on three-axle table, billing machine, confirms that system energization is normal;
1.2) plug of drawing in the inspection of the ground of inertial navigation connects oscillograph, respectively monitoring system orientation, in roll, the high-end and lock discharge signal waveform of pitching motor;
1.3) system drives full machine, completes normal compass and aims at, enter navigational state;
1.4) system navigate is after 5 minutes, and three axles are simultaneously with the rolling of forward maximum angular rate, as shown in table 1, and keep stopping rolling after 30 minutes, umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
1.5) three axles are simultaneously with the rolling of negative sense maximum angular rate, as shown in table 1, and keep stopping rolling after 30 minutes, umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^, by turntable back to zero;
Table 1
| Project | Maximum angular rate (flying condition) | Three-axle table maximum angular acceleration |
| Orientation | ±180°/s | ±30°/s 2 |
| Pitching | ±40°/s | ±30°/s 2 |
| Roll | ±400°/s | ±40°/s 2 |
2) three-axis swinging:
2.1) all forward pitching and roll axle to+60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 0.6HZ, amplitude 70 ° setting, and three axles wave simultaneously, keeps stopping waving after 15 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
2.2) keep pitching and roll axle at+60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 10HZ, amplitude 0.25 ° setting, and three axles wave simultaneously, keeps stopping waving after 15 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
2.3) all forward pitching and roll axle to-60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 0.6HZ, amplitude 70 ° setting, and three axles wave simultaneously, keeps stopping waving after 15 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
2.4) keep pitching and roll axle at-60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 10HZ, amplitude 0.25 ° setting, three axles wave simultaneously, keep stopping waving after 15 minutes, umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^, by turntable back to zero.
Table 2
3) spiral:
3.1) forward pitch axis to+20 °, roll axle forwards+80 ° of initial positions to, and by roll axle from+80 ° to-80 ° swings, azimuth axis rotates with 50 °/s counterclockwise simultaneously, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.2) forward pitch axis to+20 °, roll axle forwards-80 ° of initial positions to, and by roll axle from-80 ° to+80 ° swings, azimuth axis rotates with 50 °/s clockwise simultaneously, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.3) forward pitch axis to+20 °, roll axle forwards+80 ° of initial positions to, and azimuth axis rotates with 180 °/s clockwise, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.4) forward pitch axis to+20 °, roll axle forwards-80 ° of initial positions to, and azimuth axis rotates with 180 °/s counterclockwise, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.5), after rotating stopping, by three-axle table back to zero, system closes full machine.
The advantage that the present invention has and beneficial effect: the present invention passes through surface installation, acceleration and angular acceleration is provided to inertial navigation, simulation inertial navigation dynamic environment for use aboard, then by data acquisition and signal testing, find out system report stable loop fault and lock the reason of putting fault; The present invention substantially increases problem system stable loop fault and locks the probability putting fault reproduction, saves human and material resources and time, improves efficiency, reduce cost.
Embodiment
Below the present invention is described in further details.
The present invention is based on a three-axle table, inertial navigation system is arranged on three-axle table, and on the plug that the inspection of the ground of inertial navigation is drawn, connect oscillograph, the method step of concrete test is as follows:
1) three axle rollings:
1.1) inertial navigation system is arranged on three-axle table, billing machine, confirms that system energization is normal; Namely described billing machine gives computer power supply separately;
1.2) plug of drawing in the inspection of the ground of inertial navigation connects oscillograph, respectively monitoring system orientation, in roll, the high-end and lock discharge signal waveform of pitching motor;
1.3) system drives full machine, completes normal compass and aims at, enter navigational state; Describedly drive full machine, namely power to total system;
1.4) system navigate is after 5 minutes, and three axles are simultaneously with the rolling of forward maximum angular rate, as shown in table 1, and keep stopping rolling after 30 minutes, umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
1.5) three axles are simultaneously with the rolling of negative sense maximum angular rate, as shown in table 1, and keep stopping rolling after 30 minutes, umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^, by turntable back to zero;
2) three-axis swinging:
2.1) all forward pitching and roll axle to+60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 0.6HZ, amplitude 70 ° setting, and three axles wave simultaneously, keeps stopping waving after 15 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
2.2) keep pitching and roll axle at+60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 10HZ, amplitude 0.25 ° setting, and three axles wave simultaneously, keeps stopping waving after 15 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
2.3) all forward pitching and roll axle to-60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 0.6HZ, amplitude 70 ° setting, and three axles wave simultaneously, keeps stopping waving after 15 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
2.4) keep pitching and roll axle at-60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 10HZ, amplitude 0.25 ° setting, three axles wave simultaneously, keep stopping waving after 15 minutes, umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^, by turntable back to zero.
3) spiral:
3.1) forward pitch axis to+20 °, roll axle forwards+80 ° of initial positions to, and by roll axle from+80 ° to-80 ° swings, azimuth axis rotates with 50 °/s counterclockwise simultaneously, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.2) forward pitch axis to+20 °, roll axle forwards-80 ° of initial positions to, and by roll axle from-80 ° to+80 ° swings, azimuth axis rotates with 50 °/s clockwise simultaneously, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.3) forward pitch axis to+20 °, roll axle forwards+80 ° of initial positions to, and azimuth axis rotates with 180 °/s clockwise, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.4) forward pitch axis to+20 °, roll axle forwards-80 ° of initial positions to, and azimuth axis rotates with 180 °/s counterclockwise, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.5), after rotating stopping, by three-axle table back to zero, system closes full machine.
Should be noted in process of the test:
A) note observation oscilloscope waveform, motor waveform should without saturated phenomenon, and lock is put waveform and answered dead-beat;
B) system is in process of the test, notes observing T1 temperature, once more than 76 DEG C, should stop operating immediately, shut down after 10 minutes, then start continues test;
C) system is in process of the test, notes observing exporting data, once report " stable loop fault " and " lock puts fault " or cut ordinary telegram (T3, T4 are about-200 DEG C), should stop three-axle table immediately, then close full machine.
Claims (1)
1. an inertial navigation system dynamic testing method, is characterized by and said method comprising the steps of:
1) three axle rollings:
1.1) inertial navigation system is arranged on three-axle table, billing machine, confirms that system energization is normal;
1.2) plug of drawing in the inspection of the ground of inertial navigation connects oscillograph, respectively monitoring system orientation, in roll, the high-end and lock discharge signal waveform of pitching motor;
1.3) system drives full machine, completes normal compass and aims at, enter navigational state;
1.4) system navigate is after 5 minutes, and three axles are simultaneously with the rolling of forward maximum angular rate, as shown in table 1, and keep stopping rolling after 30 minutes, umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
1.5) three axles are simultaneously with the rolling of negative sense maximum angular rate, as shown in table 1, and keep stopping rolling after 30 minutes, umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^, by turntable back to zero;
Table 1
2) three-axis swinging:
2.1) all forward pitching and roll axle to+60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 0.6HZ, amplitude 70 ° setting, and three axles wave simultaneously, keeps stopping waving after 15 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
2.2) keep pitching and roll axle at+60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 10HZ, amplitude 0.25 ° setting, and three axles wave simultaneously, keeps stopping waving after 15 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
2.3) all forward pitching and roll axle to-60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 0.6HZ, amplitude 70 ° setting, and three axles wave simultaneously, keeps stopping waving after 15 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
2.4) keep pitching and roll axle at-60 °, orientation and pitch axis setting as shown in table 2, roll axle is with frequency 10HZ, amplitude 0.25 ° setting, three axles wave simultaneously, keep stopping waving after 15 minutes, umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^, by turntable back to zero.
Table 2
3) spiral:
3.1) forward pitch axis to+20 °, roll axle forwards+80 ° of initial positions to, and by roll axle from+80 ° to-80 ° swings, azimuth axis rotates with 50 °/s counterclockwise simultaneously, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.2) forward pitch axis to+20 °, roll axle forwards-80 ° of initial positions to, and by roll axle from-80 ° to+80 ° swings, azimuth axis rotates with 50 °/s clockwise simultaneously, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.3) forward pitch axis to+20 °, roll axle forwards+80 ° of initial positions to, and azimuth axis rotates with 180 °/s clockwise, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.4) forward pitch axis to+20 °, roll axle forwards-80 ° of initial positions to, and azimuth axis rotates with 180 °/s counterclockwise, keeps stopping operating after 10 minutes, and umber of pulse Nx, Ny that horizontal diaxon exports are less than 50^;
3.5), after rotating stopping, by three-axle table back to zero, system closes full machine.
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| CN201310675186.6A CN104713572B (en) | 2013-12-11 | 2013-12-11 | A kind of inertial navigation system dynamic testing method |
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| CN201310675186.6A CN104713572B (en) | 2013-12-11 | 2013-12-11 | A kind of inertial navigation system dynamic testing method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1821721A (en) * | 2006-03-27 | 2006-08-23 | 北京航空航天大学 | Precise decoupling detecting method for gyroscope scale factor and input shaft default angle |
| CN101464150A (en) * | 2009-01-09 | 2009-06-24 | 哈尔滨工程大学 | Test method for dynamic property of optical fiber gyroscope |
| CN101936738A (en) * | 2010-08-19 | 2011-01-05 | 中国航空工业第六一八研究所 | Method for improving platform inertial navigation system speed channel |
| CN102147987A (en) * | 2011-04-18 | 2011-08-10 | 中国人民解放军国防科学技术大学 | Teaching experiment device for aircraft navigation, guidance and control technology |
| CN102914307A (en) * | 2011-08-02 | 2013-02-06 | 王靖微 | Three-axis turntable with dynamic stabilization function |
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2013
- 2013-12-11 CN CN201310675186.6A patent/CN104713572B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1821721A (en) * | 2006-03-27 | 2006-08-23 | 北京航空航天大学 | Precise decoupling detecting method for gyroscope scale factor and input shaft default angle |
| CN101464150A (en) * | 2009-01-09 | 2009-06-24 | 哈尔滨工程大学 | Test method for dynamic property of optical fiber gyroscope |
| CN101936738A (en) * | 2010-08-19 | 2011-01-05 | 中国航空工业第六一八研究所 | Method for improving platform inertial navigation system speed channel |
| CN102147987A (en) * | 2011-04-18 | 2011-08-10 | 中国人民解放军国防科学技术大学 | Teaching experiment device for aircraft navigation, guidance and control technology |
| CN102914307A (en) * | 2011-08-02 | 2013-02-06 | 王靖微 | Three-axis turntable with dynamic stabilization function |
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