CN105865486B - It is a kind of with self-calibration, autoregistration, self-diagnostic function Strapdown Inertial Navigation System - Google Patents
It is a kind of with self-calibration, autoregistration, self-diagnostic function Strapdown Inertial Navigation System Download PDFInfo
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- CN105865486B CN105865486B CN201610181486.2A CN201610181486A CN105865486B CN 105865486 B CN105865486 B CN 105865486B CN 201610181486 A CN201610181486 A CN 201610181486A CN 105865486 B CN105865486 B CN 105865486B
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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 discloses it is a kind of with self-calibration, autoregistration, self-diagnostic function Strapdown Inertial Navigation System, belong to Strapdown Inertial Navigation System field.It includes inertial measurement combination, two identical dense ball bearing shaftings, outline border, flange, outline border rotation modulation component, inside casing position rotaring motor, active toothed disk and fixed tooth disk, mounting hole is provided on flange, flange inner cavity upper and lower ends are equipped with the shaft shoulder, to be respectively used to two dense ball bearing shaftings of installation, outline border passes through dense ball bearing shafting and flanged joint, outer arch is additionally provided with inside casing position rotaring motor, inertial measurement combination is arranged on outline border, inertial measurement combination integrated installation has inside casing, inside casing is connected with inside casing position rotaring motor, inertial measurement combination bottom is provided with active toothed disk, flange base installs fixed tooth disk and its top is equipped with outline border rotation modulation component.Apparatus of the present invention can be realized can carry out self-calibration, autoregistration and self-diagnostic function without dismounting inertial measurement combination in situ.
Description
Technical field
The invention belongs to Strapdown Inertial Navigation System field, it is related to that there is " three certainly "-self-calibration, autoregistration and self-diagnostic function
Strap-down inertial navigation system.
Background technique
The accuracy at target of aircraft depends primarily on guidance precision.Short-range flights device weapon system, is generally surveyed using inertia
Amount combination (is referred to as used to group), it is the core of flight control system, is the pass for influencing aircraft accuracy at target and service performance
Key member.Inertial measurement combination is that inertia device (accelerometer and gyroscope) is directly installed on carrier, is flown by measuring
The system that row device posture and location information complete Guidance & Navigation task.
Traditional strapdown tank-type mixture is directly fixedly mounted in aircraft bay section, due to the variation of internal device parameters
And stress release, it will lead to entire used group parameter and constantly change at any time.In order to guarantee its service precision, it is necessary to using regular
Loop test scheme is first dismantled from aircraft, successively turns to specific position around two quadrature shafts on ground calibration turntable
It is demarcated, is installed again on board the aircraft after completing calibration test, i.e. experience disassembly-calibration-installation survey from aircraft
Examination process.And the period is shorter, need to just test within general 3-6 months primary.In the case where in high volume equipping our troops, often finally
A set of product test is complete, and first set product again will be expired, and frequent calibration is too tired to deal with army, and cumbersome, work
Amount is big, maintenance cost is high, and repeated disassembled and assembled also will affect aircraft guidance precision.If by being integrated after ground calibration turntable miniaturization
In used group, used group is directly realized by aircraft around two quadrature shaft indexing functions, and reliably locked before flight, i.e.,
Used group self calibrating function free of demolition can be achieved.
And aircraft needs to rely on positioning and directing instrument that ground uses and optical aiming equipment refers to before launching site transmitting
Show orientation, provides body axial direction and north orientation initial orientation angle.Inertial navigation autoregistration be according to earth acceleration of gravity and from
Tarnsition velocity drives used group to rotate 180 ° to East and West direction around azimuth axis, samples used group gyro and accelerometer by turn device
Output calculate used group and be directed toward an angle with north orientation, by the way that self aligned precision can be improved to used group of carry out rotation modulation.
It realizes and is used to group self calibrating function, can avoid the troublesome operation of strapdown inertial measurement unit repeated disassembled and assembled calibration, solve without support battle array
It is used to group maintenance and mating test problem in ground.Realize that inertial navigation automatic aligning function (is set for getting rid of external direction reference system as aimed at
It is standby) dependence, streamline operation have significant meaning, launching site survival ability can be improved.
To realize used group self-calibration, automatic aligning function, used group need to be driven to revolve around a pair of orthogonal shafting by apparatus for turning modulation
Turn to be not less than 270 °, and reliable locking is provided in flight.Already present solution transmission executing agency passes through inside and outside at present
Frame drives used group to rotate rotating around quadrature shaft, since indexing, locking transmission mechanism occupy substantial radial space, inside and outside
It certainly will cause to greatly increase tactical diameter when frame indexing, so as to cause system bulk is significantly increased.Existing system occupies largely
Diameter space haves the shortcomings that volume is big, structure is complicated, poor reliability and at high cost etc., can only be in the big caliber aircraft in part
Upper application seriously constrains self-calibration, self-aligned technology is promoted and applied in holotype weapon system.
It is a kind of with self-calibration, the Strapdown Inertial Navigation System of automatic aligning function, such inertial navigation system therefore, it is necessary to develop
System is because self-calibration and autoregistration can be carried out in situ, while also having the function of self diagnosis.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides one kind have self-calibration, autoregistration, from
The Strapdown Inertial Navigation System of diagnostic function, it is intended that by outline border rotation modulation component drive drive inertial measurement combination around
Flange radial rotary drives inertial measurement combination around flange axial-rotation, is surveyed inertia by flange by inside casing position rotaring motor
Amount combination, outline border rotation modulation component and inside casing position rotaring motor are arranged in aircraft bay section, and apparatus of the present invention can be without tearing open
Dress realizes inertial measurement combination, makes inertial measurement combination in self calibration, self-calibration and the self diagnosis carried out in situ in bay section.
To achieve the above object, the present invention provides it is a kind of with self-calibration, autoregistration, self-diagnostic function inertial navigation
System comprising inertial measurement combination, two identical dense ball bearing shaftings, outline border, flange, outline border rotation modulation component, inside casing turn
Position motor, active toothed disk and fixed tooth disk, wherein
It is provided on the flange for the mounting hole fixed with the installation of aircraft bay section, flange inner cavity upper and lower ends are all provided with
There is the shaft shoulder, to be respectively used to two dense ball bearing shaftings of installation, outline border is additionally provided with by dense ball bearing shafting and flanged joint, outer arch
Inside casing position rotaring motor,
The inertial measurement combination is mounted on outline border, and the inertial measurement combination is used as the installation of gyro and accelerometer
Carrier, the inertial measurement combination integrated installation have inside casing, and the inside casing is connected with inside casing position rotaring motor, with can inside casing indexing
Motor is rotated by, and inertial measurement combination bottom is provided with active toothed disk,
The flange base installs fixed tooth disk, installs outline border rotation modulation component, outline border rotation modulation component at the top of flange
For driving outline border to rotate to drive inertial measurement combination to rotate.
Further, the dense ball bearing shafting includes outer ring, inner ring, retainer and ball, and two outer rings are separately mounted to method
On the shaft shoulder of blue inner cavity upper and lower ends, two inner rings are installed on outline border, several balls, ball position are equipped in retainer
Between outer ring and inner ring,
Outline border is installed in flange inner cavity by dense ball bearing shafting, and outer arch installs outline border indexing gear wheel.
Further, the inertial measurement combination two sides are provided with inner axis, which is pacified by bearing standard part
To realize that inertial measurement combination is arranged on outline border in outline border,
The inertial measurement combination side is equipped with inside casing indexing gear wheel, the inside casing indexing gear wheel and inside casing indexing electricity
Machine connection, inertial measurement combination can be driven around flange radial rotary under the driving of inside casing position rotaring motor, inertial measurement combination is another
Side is equipped with Circular gratings and reading head, and spherical locking clamping block, the spherical shape locking clamping block are equipped at the top of inertial measurement combination
It is used to provide secure support to inertial measurement combination in locking with the active toothed disk.
Further, the outline border rotation modulation component includes locking motor, locking worm screw, locking worm gear screw rod, spline
Set, compressor arm, outline border position rotaring motor, indexable worm screw and indexable worm gear,
The outline border position rotaring motor output end is equipped with indexable worm screw, and indexable worm screw engages with indexable worm gear, indexable worm gear
Bottom pinion gear is engaged with outline border indexing gear wheel, outline border can be driven around flange axial-rotation, locking motor is for driving locking
Worm screw rotation, the worm gear portion for locking worm gear screw rod are engaged with locking worm screw, lock the screw portion and compressor arm of worm gear screw rod
By screw pair connect be driven, make when being threaded in or out compressor arm spline housing limitation under can only upper and lower translation, to realize
Unlock or locking function.
More specifically, the inertial measurement combination includes the gyro and accelerometer of the orthogonal installation in three tunnels, for sensitivity
The posture and location information of aircraft；And with the integrated design of inside casing, provided in inertial measurement combination left and right ends a pair of
Inside casing indexing gear wheel is installed in inner axis, left side, and right side installs Circular gratings and is used for inside casing indexing angle closed-loop control, top peace
Equipped with spherical briquetting, active toothed disk is installed in bottom end.
It is set on the flange there are four fixed mounting hole is installed for bay section, it is close for installing to be equipped with the shaft shoulder in inner cavity
The outer ring of pearl shafting, bottom surface is for installing fixed tooth disk.
The outline border is connect between flange and inertial measurement combination, with flange by a pair of of dense ball bearing shafting, top
Installing indexable gear wheel can be driven by outline border rotation modulation mechanism, and bottom installs Circular gratings and is used for the closed loop control of outline border indexing angle
System, can not only realize around flange axial-rotation, but also can pass through a pair of of mark with the inner axis of inertial measurement combination along flange axial translation
Fiducial axis holds connection, can only inertial measurement combination be made to rotate around inner axis.
Outline border rotation modulation mechanism includes rotation modulation pedestal, locking motor, locking worm and gear, spline housing, outline border turn
Position motor, compressor arm, indexable worm and gear and gear, the locking motor driving locking worm screw band being mounted on rotation modulation pedestal
Dynamic locking worm gear rotation, locking worm gear lower end are machined with lead screw screw pair and connect with compressor arm, and when rotation, which passes through, to be threaded in or out
Compressor arm is driven to act on lower edge axial direction upper and lower translation in spline housing.The briquetting on inertial measurement combination top is compressed when moving down and is driven
Inertial measurement combination and outline border move downward simultaneously until reliable locking is realized in dynamic, fixed tooth disk engagement.Table on compressor arm when moving up
Face drives outline border and inertial measurement combination to move upwards simultaneously until dynamic, fixed tooth disk is disengaged realization solution with end face bearing touch
Lock.
Outline border position rotaring motor can drive indexable worm and gear to rotate, and the indexable pinion gear driving for passing through indexable worm gear lower end
Outline border indexing bull gear drive, to realize outline border indexing.The inside casing indexing mechanism is installed on outline border upper end, is turned by inside casing
Position motor and gear composition, can drive inertial measurement combination to rotate around inner axis not less than 270 °.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
The present invention by using dense ball bearing shafting realize transmission retaining mechanism transposition be in the layout of short transverse, internal and external frames just
Do not increase tactical diameter when handing over rotation, to substantially reduce product structure size.By around flange axially and radially two just
It hands over direction to be not less than the freedom degree of 270 ° of slewing areas, drives used group successively to turn to the position sequence of setting, by sensitively
Ball acceleration of gravity and spin velocity can calibrate all used group parameters；And by using high-accuracy angle detector device circle
Grating, realize rad rank shift accurately control, driving high accuracy gyroscope around azimuth axis successively towards both forward and reverse directions rotate 180 ° to east,
West is to according to the used group of used group posture information of output parsing acquisition to realize automatic aligning function.
Inertial measurement combination is axially and radially rotated around flange can calibrate the whole parameters of used group, by around flange radial direction
180 ° of positive and negative rotations can obtain used group posture information, so as to be completely free of traditional strapdown tank-type mixture regular dismounting calibration mold
Formula, and realize missile-borne tank-type mixture self-calibration free of demolition and automatic aligning function, reduce tank-type mixture maintenance and the mating survey in position
The requirement of facility is tried, and improves launching site survival ability.Transmission executing agency can be made not increase by transmission layout design
Add tactical diameter, to substantially reduce small product size and weight.The present invention reduces three points compared to domestic existing solution volume
One of more than, the used group requirements of installation space of existing most model weapon system can be met, convenient for promoting self-calibration, autoregistration
It is applied on technology bullet, is applicable to most model aircraft and promotes and applies.
Detailed description of the invention
Fig. 1 is miniaturization of the invention " three certainly " Strapdown Inertial Navigation System structure complete section schematic diagram, which is main view.
In the present invention, identical label indicates identical element or structure from beginning to end, wherein
1- flange 2- inertial measurement combination 3- outline border
4- outline border rotation modulation component 5- fixed tooth disk 6- active toothed disk
7- dense ball bearing shafting 8- Circular gratings 9- reading head
10- indexing worm gear 11- indexing worm screw 12- outline border position rotaring motor
13- outline border indexing gear wheel 14- locks worm screw 15- locking motor
16- locks worm gear screw rod 17- compressor arm 18- spline housing
The end face 19- spherical shape locking clamping block 20- bearing 21- inside casing indexing gear wheel
22- inside casing position rotaring motor
2.1- inner axis 7.1- inner ring 7.2- retainer
The outer ring 7.3- ball 7.4-
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Miniaturization as shown in Figure 1 " three from " Strapdown Inertial Navigation System, including inertial measurement combination 2, a pair of of dense ball bearing shafting 7,
Outline border rotation modulation component 4, inside casing position rotaring motor 22, outline border 3 and flange 1.
Wherein, it is set on flange 1 there are four for the mounting hole fixed with the installation of aircraft bay section, 1 inner cavity of flange up and down two
End is equipped with the shaft shoulder and installs fixed tooth disk 5 for installing a pair of of dense ball bearing shafting 7,1 bottom of flange, installation outline border rotation at the top of flange 1
Modulation component 4.
Dense ball bearing shafting 7 is made of outer ring 7.4, inner ring 7.1, retainer 7.2 and ball 7.3.Outer ring 7.4 is mounted on flange 1
On the shaft shoulder of inner cavity upper and lower ends, inner ring 7.1 is mounted on outline border 3, several balls 7.3, ball are equipped in retainer 7.2
7.3 between outer ring 7.4 and inner ring 7.1.Outline border 3 is installed in flange inner cavity by dense ball bearing shafting 7, and top is installed outline border and turned
Position gear wheel 13, top is equipped with inside casing position rotaring motor 22 and reading head 9.
Inertial measurement combination 2 is gyro and accelerometer installs carrier, and left and right ends are equipped with inner axis 2.1, pass through a pair
Bearing standard part is installed in outline border 3.Inside casing indexing gear wheel 21 is installed on the left of inertial measurement combination 2, it can be by inside casing indexing
Motor 22 driving and around 1 radial rotary of flange；Circular gratings 8 are installed, with reading head 9 together for height on the right side of inertial measurement combination 2
Precision indexing angle closed-loop control；Spherical locking clamping block 19,2 bottom of inertial measurement combination peace are installed at the top of inertial measurement combination 2
Active toothed disk 6 is filled, for providing secure support in locking.
Further, outline border rotation modulation component 4 includes locking motor 15, locking worm screw 14, locking worm gear screw rod 16, flower
Key set 18, compressor arm 17, outline border position rotaring motor 12, indexable worm screw 11 and indexable worm gear 10.Wherein, outline border position rotaring motor 12 is defeated
Outlet is equipped with indexable worm screw 11, and indexable worm screw 11 engages with indexable worm gear 10, and indexable 10 bottom pinion gear of worm gear and outline border turn
Position gear wheel 13 engages, and outline border 3 can be driven around 1 axial-rotation of flange.The driving locking worm screw 14 of locking motor 15 rotates, locking
The worm gear portion of worm gear screw rod 16 is engaged with locking worm screw 14, and the screw portion and compressor arm 17 for locking worm gear screw rod 16 pass through spiral shell
The secondary connection transmission of rotation, make when being threaded in or out compressor arm 17 under the limitation of spline housing 18 can only upper and lower translation, realize unlock or
Locking function.
Working principle of the present invention is as follows:
Inertial measurement combination 2 will keep reliable locking in zero-bit when aircraft transports and emits.Specifically, locking movement
It is divided into two stage strokes:
First stage, the driving locking worm screw 14 of locking motor 15 rotate, 16 turns of worm gear screw rod of locking of the locking driving of worm screw 14
Dynamic, Worm Wheel System has first order self-locking function.The screw portion of locking 16 bottom of worm gear screw rod passes through with compressor arm 17
Screw pair gear transmission has second level self-locking function.When locking the rotation of worm gear screw rod 16, guiding of the compressor arm 17 in spline housing 17
It under effect, can only be translated downwards, compressor arm 17 is moved downward to when locking presses with 2 top ball catch of inertial measurement combination
Block 19 presses.
Second stage, outline border rotation modulation component 4 continue to jack compressor arm 17, push inertial measurement combination 2 and drive outer
Frame 3 continues to move down, until active toothed disk 6 is engaged with fixed tooth disk 5, so far realizes locking function, is compressed and bottom fluted disc by top
Engagement locking mode enhances system integral rigidity.
Carry out self-calibration, autoregistration and when needing indexing, need first to unlock.Unlocking movement is also classified into two stage rows
Journey:
First stage, the driving locking worm screw 14 of locking motor 15 rotate backward, the locking driving locking worm gear screw rod of worm screw 14
16 rotate backward, and compressor arm 17 can only be translated up under the guiding role of spline housing 18, and compressor arm 17 is upward when locking
It is moved to and is pressed with the end face bearing 20 of 13 lower surface of outline border indexing gear wheel installation.
Second stage, outline border rotation modulation component 4 continue to shrink compressor arm 17, pull outline border 3 and drive inertia measurement group
It closes 2 to continue to move up, active toothed disk 6 is disengaged with fixed tooth disk 5, until the end face bearing of 13 upper surface of outline border indexing gear wheel installation
20 contact with spline housing 18, so far realize unlocking function, and inertial measurement combination 2 can be in outline border position rotaring motor 12 and inside casing indexing electricity
Lower realize of the driving of machine 22 axially and radially rotates around flange, to can be carried out self-calibration and autoregistration work.
When axial rotation, outline border position rotaring motor 12 drives indexable worm screw 11 to drive indexable worm gear 10 to rotate.Indexable worm gear
The pinion gear of 10 lower ends drives outline border indexing gear wheel 13 to rotate, and is achieved in inertial measurement combination 2 and outline border 3 in dense ball bearing shafting
Around the axial rotation of flange 1 under the action of 7.
When radial rotating, drives inside casing indexing gear wheel 21 to rotate by inside casing position rotaring motor 22, drive inertial measurement combination 2
Radial rotating is realized in outline border under the effect of a pair of of standard rolling bearing by inner axis 2.1.
By driving inertial measurement combination 2, around flange, axially and radially two orthogonal directions are realized not less than 0~270 ° turn
It is dynamic, inertial measurement combination whole parameter can be calibrated.It, can by driving inertial measurement combination 2 around 180 ° of radial positive and negative rotation
Parsing obtains posture information of the inertial measurement combination with respect to geographic coordinate system, realizes automatic aligning function.
It is of the invention " three from " Strapdown Inertial Navigation System smart structural design, compact, it can be achieved that axial direction in situ, radial rotating
And locking and unlocking function, to have the function of self-calibration, autoregistration, self diagnosis.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (2)
1. it is a kind of with self-calibration, autoregistration, self-diagnostic function Strapdown Inertial Navigation System, which is characterized in that it include inertia survey
Amount combination (2), two identical dense ball bearing shaftings (7), outline border (3), flange (1), outline border rotation modulation component (4), inside casing indexing
Motor (22), active toothed disk (6) and fixed tooth disk (5), wherein
It is provided on the flange (1) for the mounting hole fixed with the installation of aircraft bay section, flange (1) inner cavity upper and lower ends are equal
Equipped with the shaft shoulder, to be respectively used to two dense ball bearing shaftings (7) of installation, outline border (3) is connect by dense ball bearing shafting (7) with flange (1), outside
Inside casing position rotaring motor (22) are additionally provided at the top of frame (3),
The inertial measurement combination (2) is arranged on outline border (3), and the inertial measurement combination (2) is used as gyro and accelerometer
Installation carrier, inertial measurement combination (2) integrated installation has inside casing, and the inside casing is connected with inside casing position rotaring motor (22),
With being rotated by inside casing position rotaring motor (22), inertial measurement combination (2) bottom is provided with active toothed disk (6),
Fixed tooth disk (5) are installed in flange (1) bottom, install outline border rotation modulation component (4) at the top of flange (1), outline border rotation
Modulation component (4) drives inertial measurement combination (2) to rotate for driving outline border to rotate,
Inertial measurement combination (2) two sides are provided with inner axis (2.1), which is pacified by bearing standard part
To realize that inertial measurement combination is arranged on outline border (3) in outline border (3),
Inertial measurement combination (2) side is equipped with inside casing indexing gear wheel (21), the inside casing indexing gear wheel (21) with it is interior
Frame position rotaring motor (22) connection, inertial measurement combination (2) can be driven around flange (1) diameter in the case where inside casing position rotaring motor (22) drive
To rotation,
Inertial measurement combination (2) other side is equipped with Circular gratings (8) and reading head (9),
It is equipped with spherical locking clamping block (19) at the top of inertial measurement combination (2), the spherical shape locking clamping block (19) and the movable tooth
Disk (6) is used to provide secure support to inertial measurement combination in locking,
The outline border rotation modulation component (4) includes locking motor (15), locking worm screw (14), locking worm gear screw rod (16), flower
Key set (18), compressor arm (17), outline border position rotaring motor (12), indexable worm screw (11) and indexable worm gear (10),
Outline border position rotaring motor (12) output end is equipped with indexable worm screw (11), and indexable worm screw (11) is nibbled with indexable worm gear (10)
It closes, indexable worm gear (10) bottom pinion gear is engaged with outline border indexing gear wheel (13), and outline border (3) can be driven axial around flange (1)
Rotation,
Locking motor (15) locks worm gear portion and the locking worm screw of worm gear screw rod (16) for driving locking worm screw (14) rotation
(14) it engages, the screw portion of locking worm gear screw rod (16) connect transmission by screw pair with compressor arm (17), is screwing in or is revolving
Make when out compressor arm (17) spline housing (18) limitation under can only upper and lower translation, to realize unlock or locking function.
2. it is as described in claim 1 it is a kind of with self-calibration, autoregistration, self-diagnostic function Strapdown Inertial Navigation System, feature
It is, the dense ball bearing shafting (7) includes outer ring (7.4), inner ring (7.1), retainer (7.2) and ball (7.3),
Two outer rings (7.4) are separately mounted on the shaft shoulder of flange (1) inner cavity upper and lower ends, and two inner rings (7.1) are installed in
On outline border (3), several balls (7.3) are installed in retainer (7.2), ball (7.3) is located at outer ring (7.4) and inner ring
(7.1) between,
Outline border (3) is installed in flange inner cavity by dense ball bearing shafting (7), installs outline border indexing gear wheel (13) at the top of outline border (3).
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| CN201610181486.2A CN105865486B (en) | 2016-03-28 | 2016-03-28 | It is a kind of with self-calibration, autoregistration, self-diagnostic function Strapdown Inertial Navigation System |
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| CN201610181486.2A CN105865486B (en) | 2016-03-28 | 2016-03-28 | It is a kind of with self-calibration, autoregistration, self-diagnostic function Strapdown Inertial Navigation System |
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| CN107228666B (en) * | 2017-07-27 | 2020-09-11 | 湖北三江航天红峰控制有限公司 | Integrated single-shaft self-calibration inertial navigation control system |
| CN108006410B (en) * | 2017-11-15 | 2019-11-01 | 湖北三江航天红峰控制有限公司 | A kind of twin shaft indexing mechanism for Strapdown Inertial Navigation System location position |
| CN108444474A (en) * | 2018-05-03 | 2018-08-24 | 湖北三江航天红峰控制有限公司 | One kind minimizing high-precision optical fiber inertial positioning orienting device based on spatial reuse |
| CN108820482B (en) * | 2018-05-15 | 2021-04-13 | 北京航天时代激光导航技术有限责任公司 | Shafting subassembly locking positioning mechanism |
| CN108982918B (en) * | 2018-07-27 | 2020-07-14 | 北京航天控制仪器研究所 | Method for separating and calibrating combined error coefficients of accelerometer under condition of uncertain datum |
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| CN112196368A (en) * | 2020-09-30 | 2021-01-08 | 湖南航天机电设备与特种材料研究所 | Bolt type locking mechanism and inertial navigation device |
| CN112611379B (en) * | 2020-11-27 | 2022-08-16 | 武汉华之洋科技有限公司 | Inertial navigation stable platform and calibration and installation method thereof |
| CN113532432B (en) * | 2021-08-09 | 2022-11-11 | 湖北航天技术研究院总体设计所 | Redundancy system and calibration method for inertial measurement |
| CN114264303B (en) * | 2022-02-28 | 2022-05-20 | 湖南智航联测科技有限公司 | Light-small high-precision combined inertial navigation system and navigation mode switching method |
| CN118092873A (en) * | 2024-04-19 | 2024-05-28 | 贵州航天控制技术有限公司 | Three-self inertial navigation software architecture design method based on multi-core processor |
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