CN109405825A - A kind of used group inertia ontology high-precision assembly and disassembly methods of laser - Google Patents
A kind of used group inertia ontology high-precision assembly and disassembly methods of laser Download PDFInfo
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- CN109405825A CN109405825A CN201811333708.3A CN201811333708A CN109405825A CN 109405825 A CN109405825 A CN 109405825A CN 201811333708 A CN201811333708 A CN 201811333708A CN 109405825 A CN109405825 A CN 109405825A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
A kind of used group inertia ontology high-precision assembly and disassembly methods of laser, belong to technical field of inertial.The method of the present invention passes through the technique device specially designed, the information such as azimuth and pitch angle when being installed by electronic theodolite and electrolevel detection body, by ontology almost with being assembled to as former state before dismantling in used group cabinet, guarantee that inertia type instrument installation error remains unchanged to reach, is used to group output and keeps stable purpose.
Description
Technical field
The present invention relates to a kind of used group inertia ontology high-precision assembly and disassembly methods of laser, belong to technical field of inertial.
Background technique
Laser inertial has been successfully applied to carrier rocket, guided missile, satellite, aircraft, ship and other civil fields, for fortune
It carries rocket, guided missile, satellite, aircraft, ship etc. and angular speed and apparent acceleration information is provided, be its key equipment.It is used to group by important
The compositions such as instrument (gyro plus table), ontology, cabinet, damper, electronic box, prism are used to important instrument (the gyro and Jia Biao) peace of group
On the body, ontology is mounted on cabinet dress by damper, and prism is typically mounted on cabinet (as shown in Figure 1).
Used group instrument and prism installation error stability requirement are stringent, and variation will affect aircraft alignment precision, flight
Precision.Installation error stability is missed during generally requiring 2-3 months by repeatedly demarcating, aiming at test instrumentation and prism installation
Then difference counts its variance and acquires；Stability before and after the used various environmental tests of group passes through calibration, the installation aimed at before and after test
Error result comparison acquires.
Laser is used to group and is typically used in the fields such as navigation, Aeronautics and Astronautics, long-range weapon guided missile, in delivery, transmitting, flies
The stages such as row subject severe, random wideband and multidirectional vibration environment.Within used group causes for some reason
Portion's device fails, replace internal component when, unavoidably dismantle ontology, after causing ontology install again instrument output and
Preceding value difference is larger.
Summary of the invention
Technical problem solved by the present invention is having overcome the deficiencies of the prior art and provide a kind of used group inertia ontology of laser
High-precision assembly and disassembly methods guarantee that ontology repeats installation and misses by measuring devices such as electronic theodolite and electrolevels to reach
The constant purpose of difference.
The technical solution of the invention is as follows: a kind of used group inertia ontology high-precision assembly and disassembly methods of laser, including walks as follows
It is rapid:
S1, before being dismounted, one group of data D1 of the used group of first Calibration of Laser；The used group of the laser includes cabinet, vibration damping
Device and ontology, the cabinet are the cube structure of one side opening, and the ontology is located in the cabinet, pass through damper and case
Body elasticity connection, is fixedly mounted laser gyro and accelerometer on the ontology, the damper by fixing screws with it is described
Cabinet is fixedly connected；The data include the location error between laser gyro between accelerometer；
The commissioning tooling for being used for commissioning ontology is installed to the ontology by S2；The commissioning tooling includes connecting plate, preceding
Bracket and after-poppet, the connecting plate are fixedly connected on the body upper surface, and on the fore-stock and after-poppet is equipped with spiral shell
Line through-hole, and the tapped through hole is pierced by by commissioning screw and is contacted with box opening face conflict；Commissioning screw is unclamped, is made
Commissioning screw is contacted with box opening face non-contravention, while tightening damper, measures the ontology long axis direction initially not
Levelness and the initial not horizontal of short-axis direction, are denoted as A1 and A2 respectively；
S3 screws in commissioning screw, contradicts commissioning screw with the box opening face and contacts, then unclamp damper, surveys
The ontology long axis direction not horizontal and short-axis direction not horizontal are measured, is denoted as A3 and A4 respectively；
S4 removes the commissioning tooling and fixing screws, unloads lower body；When needing to reinstall ontology, ontology is put
Enter in the cabinet, the commissioning tooling is installed on ontology again, screws in commissioning screw, make commissioning screw and the cabinet
Opening face contradicts contact, and adjustment commissioning screw makes the ontology long axis direction not horizontal and short-axis direction not horizontal is respectively
A3 and A4；
S5 installs fixing screws, tightens damper, then unclamps commissioning screw, makes commissioning screw and the box opening
The contact of face non-contravention, observes whether the ontology long axis direction not horizontal and short-axis direction not horizontal are A1 and A2；If so,
High-precision is then completed to dismount；If it is not, then repeating step S3~S5.
Further, unloading in the S4 further includes the behaviour that commissioning is carried out to the accelerometer or laser gyro after lower body
Make.
Further, the method that commissioning is carried out to accelerometer are as follows:
S31 installs rib body, and the mounting plane mirror on described body side surface on the upper surface of accelerometer ontology, surveys
Measure the azimuth difference α 3 of the rib body and plane mirror；The rib body is hexahedron；
S32 after removing accelerometer ontology, measures the pitch angle of described rib body a front surface and a side surface, is denoted as β 3 and β 4 respectively；
The front is the face that rib body faces plane mirror；
S33 re-measures the pitch angle of described rib body a front surface and a side surface, is denoted as β 5 and β 6 respectively after replacing accelerometer；
S34, adjusting the accelerometer ontology makes that β 5 is consistent with β 6, β 3 is consistent with β 4；
S35 on the body by the accelerometer ontology adjusted installation rotates the accelerometer ontology until institute
The azimuth difference for stating rib body and plane mirror becomes α 3 again, completes the commissioning to accelerometer.
Further, the accelerometer ontology is adjusted in the S4 makes β 5 consistent with β 6, β 3 and the consistent method of β 4 are as follows:
Grind the bottom mounting surfaces of the accelerometer ontology.
Further, the method that commissioning is carried out to gyro are as follows:
S51, by the pitch angle difference and roll angle difference of the D1 gyro needed replacing and other two gyro, respectively
It is denoted as α 1 and α 2；
S52, removes the gyro needed replacing, installs new gyro in the original location；One group of data D3 is demarcated, is obtained newly by D3
Gyro and other two gyro pitch angle difference and roll angle difference, be denoted as α 3 and α 4 respectively；
S53 removes new gyro, installs rib body in new gyro upper surface, measures bowing for described rib body a front surface and a side surface
The elevation angle；The rib body is hexahedron；
S54 adjusts the new gyro, the pitch angle of rib body a front surface and a side surface is made to rotate α 3- α 1 respectively toward respective direction
With α 4- α 2；
S55, new gyro adjusted reinstall on ontology, demarcate one group of data D4；It is complete if D4 is consistent with D1
The commissioning of pairs of gyro；If D4 is inconsistent with D1, repeatedly S52~S55.
Further, the method for the new gyro is adjusted in the S54 are as follows: place in the new gyro bottom corresponding
The gasket of thickness makes the pitch angle of rib body a front surface and a side surface rotate α 3- α 1 and α 4- α 2 respectively toward respective direction.
Further, the commissioning screw is three soket head cap screws.
Further, the damper is 8.
The advantages of the present invention over the prior art are that:
(1) the dismounting installation error poor repeatability of the used group ontology of laser causes the used group output-consistence in dismounting front and back poor；This
Invention realizes plus the dismounting of the high-precision of table, gyro and ontology itself, realizes the data consistency that used group front and back is demarcated.
(2) commissioning tooling of the present invention uses simple structure, ensure that itself installation error is small, high reliablity, while with
Three point contact is used between the used group ontology of laser, the adjusting of pitching, roll and direction of rotation is realized, is convenient for manually taking aim at
It surveys.
(3) the method for the present invention is easy to operate, people is freed from existing many and diverse adjustment work, it is thus only necessary to several
A operation not only substantially reduces the time that used group ontology high-precision repeats assembly, more improves the productivity of the used group of laser.
Detailed description of the invention
Fig. 1 is the method for the present invention implementation flow chart；
Fig. 2 is commissioning tool structure figure of the present invention；
Fig. 3 is the used group top view of laser；
Fig. 4 is primary structure schematic device of the present invention；
Fig. 5 is the present invention plus Watch Error commissioning schematic diagram；
Fig. 6 is gyro error commissioning schematic diagram of the present invention.
Specific embodiment
Below by specific embodiment the present invention will be described in detail method and technology scheme, as shown in Fig. 1,3,4.
1) ontology commissioning:
Before this test, used group first demarcates one group of data, is tested again after used group is fully cooled.Then wine is dipped in cotton
Essence wipes clean used group of mounting surface, marble plane, and used group is lain in marble plane, removes used group upper cover.By ontology
Consistency adjustment commissioning tooling (such as Fig. 2) is assembled on ontology, and three adjustment are in releasing orientation with soket head cap screw.Electronic water
After level booting is stablized, electrolevel is placed on tooling upper surface, the measurement initial not horizontal A1 of ontology long axis direction and
The initial not horizontal A2 of short-axis direction.
Three screws for tightening assembly tooling just withstand cabinet, keep screw motionless, unclamp 8 screws of damper, use
Electrolevel measures ontology long axis direction not horizontal A3 and short-axis direction not horizontal A4.
After completing ontology related work, it is used to group assembly, equipment adjustment commissioning tooling, adjusting screw are long to ontology on the body
Axis direction not horizontal A3 and short-axis direction not horizontal A4, tightens damper screw, unclamps three adjusting screws, sees two axis
A1, A2 whether are returned to not horizontal, adjustment returns to A1, A2 until two axial directions.
Calibration, compares body position according to installation error, and be adjusted accordingly, and re-scales, until qualified.
2) add table commissioning:
Add table ontology if not needing to remove when replacement plus table, can directly replace and add table, does not need adjusting plus table ontology
Installation site.
If replacement plus needing when table to remove plus table ontology, need to remove plus table ontology before first determine plus table ontology is relative to this
The positional relationship of body, concrete operations are as follows: it are stained with rib body on adding table ontology, is stained with plane mirror (such as Fig. 5) on the body,
Guarantee to be taken aim at simultaneously with a theodolite and surveys plane mirror and rib body；It is taken aim at theodolite and measures rib body and plane mirror
Azimuth difference α 3；It removes and adds table ontology, lie in marble platform and (be fixed on a position), take aim at survey front with theodolite
And side, write down pitch angle β 3 and β 4；After replacement plus table, table ontology will be added to lie in marble platform (front position one therewith
Cause), it is taken aim at theodolite and surveys rib body a front surface and a side surface, write down pitch angle β 5 and β 6；If β 5 and β 6 and β 3 and 4 deviation of β are larger, grind
Ceramic gasket under mill plus table ontology, until the deviation of β 5 and β 6 and β 3 and β 4 reaches ideal value；Ground is added into table ontology
Installation on the body, is taken aim at theodolite and surveys rib body and plane mirror, and rotation plus table ontology are until rib body and plane mirror azimuth difference
(or close to α 3), that is, installation nail is tightened for α 3.(the reading variation of observation theodolite, such as reading variation need at any time in installation process
Adjustment plus table ontology direction again).
If the instrument of replacement is that other two adds table, adjustment instrument cubicle error is similar with the above process.
3) gyro commissioning:
If the instrument of replacement is gyro X, gyro X is compared relative to the change in location before and after other two gyro Y, Z, that is, is divided
Do not compare the front and back variation of Dxy and Dxz, and converts angle [alpha] 1, α 2 for variable quantity；Ontology is removed and is placed on clean marble
In plane, by X gyro installation on gyro test bottom plate, and appropriate location according to gyro both direction is stained with rib body on X gyro
(such as Fig. 6).
Mounted gyro is placed in marble platform and (fixes a position), is taken aim at theodolite and surveys two direction of rib body
Pitch angle β 1, β 2, theodolite remains stationary；X gyro is removed, corresponding position mat thickness is the gasket of h at X gyro installation face
(such as misalignment angle is little, can directly grind gyro installation pedestal), is reinstalled X gyro, until β 1 turns over angle [alpha] 1,2 turns of β
Over-angle α 2.By gasket pad below gyro and install on the body.
If the instrument of replacement is Y and Z gyro, adjustment instrument cubicle error is similar with the above process.
Embodiment:
1) ontology commissioning:
Before this test, used group first demarcates one group of data D1, is tested again after used group is fully cooled.Then it is dipped in cotton
Alcohol wipes clean used group of mounting surface, marble plane, and used group is lain in marble plane, removes used group upper cover.It will adjust
Whole commissioning tooling is assembled on ontology, and three adjustment are in releasing orientation with soket head cap screw.After electrolevel booting is stablized,
Electrolevel is placed on tooling upper surface, at the beginning of measuring the initial not horizontal A1 (324) of ontology long axis direction and short-axis direction
Beginning not horizontal A2 (156).
Three screws for tightening assembly tooling just withstand cabinet, keep screw motionless, unclamp 8 screws of damper, use
Electrolevel measures ontology long axis direction not horizontal A3 (300) and short-axis direction not horizontal A4 (180).
After completing ontology related work, it is used to group assembly, equipment adjustment commissioning tooling, adjusting screw are long to ontology on the body
Axis direction not horizontal A3 (300) and short-axis direction not horizontal A4 (180), tightens damper screw, unclamps three adjustment spiral shells
Nail, sees whether two axial not horizontal return to A1 (324), A2 (156), and adjustment returns to A1 (324), A2 until two axial directions
(156), error is acceptable in 15.
One group of data D2 of used group calibration, according to the installation error of the comparing body position of D2 and D1, if dismounting front and back
Ontology installation error is consistent, then commissioning terminates.If installation error is larger, commissioning is repeated the above process, is re-scaled, until with
Data D1 compares qualified.
2) add table commissioning:
Add table ontology if not needing to remove when replacement plus table, can directly replace and add table, does not need adjusting plus table ontology
Installation site.
If replacement plus needing when table to remove plus table ontology, need to remove plus table ontology before first determine plus table ontology is relative to this
The positional relationship of body, concrete operations are as follows: it are stained with rib body on adding table ontology, is stained with plane mirror (such as Fig. 3) on the body,
Guarantee to be taken aim at simultaneously with a theodolite and surveys plane mirror and rib body；It is taken aim at theodolite and measures rib body and plane mirror
Azimuth difference α 3 (256 ")；It removes and adds table ontology, lie in marble platform and (be fixed on a position), taken aim at theodolite
A front surface and a side surface is surveyed, pitch angle β 3 (89.5625 °) and β 4 (89.6854 °) are write down；After replacement plus table, table ontology will be added to lie in
In marble platform (front position is consistent therewith), is taken aim at theodolite and survey rib body a front surface and a side surface, write down pitch angle β 5
(88.2357 °) and β 6 (88.6583 °)；β 5 and β 6 and β 3 and 4 deviation of β are larger, then grinding adds the ceramic gasket under table ontology, directly
To β 5 and β 6 and β 3 and β 4 deviation less than 0.001 °；Ground is added into the installation of table ontology on the body, takes aim at survey with theodolite
Rib body and plane mirror, rotation plus table ontology are until rib body and plane mirror azimuth difference (or are less than for α 3 (256 ") with 3 difference of α
10 "), that is, installation nail is tightened.(the reading variation of observation theodolite, such as reading variation need to adjust again and add at any time in installation process
Table ontology direction).
If the instrument of replacement is that other two adds table, adjustment instrument cubicle error is similar with the above process.
3) gyro commissioning:
If the instrument of replacement is gyro X, former gyro X is respectively (50 ") α 1, α relative to the position of other two gyro Y, Z
2(60″)；After new gyro X replaces former gyro X, the position relative to other two gyro Y, Z is respectively α 3 on the body
(153 "), α 4 (175 "), which removes ontology, to be placed in clean marble plane, and new gyro X is removed and is mounted on gyro test bottom
On plate, and appropriate location according to gyro both direction is stained with rib body on new gyro X.
The new gyro X being mounted on gyro test bottom plate is placed in marble platform and (fixes a position), with warp
Latitude instrument takes aim at pitch angle β 1 (89.7568 °), the β 2 (89.8534 °) for surveying two direction of rib body, and theodolite remains stationary；Remove new gyro
X, (such as misalignment angle is little, can directly grind gyro peace for the gasket of corresponding position pad proper height at new gyro X mounting surface
Fill pedestal), it is reinstalled X gyro, until β 1 (89.7568 °) is turned over angle [alpha] 3- α 1 (103 "), β 2 (89.8534 °) turns over angle
It spends α 4- α 2 (115 ").By gasket pad below gyro and install on the body.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (8)
1. a kind of used group inertia ontology high-precision assembly and disassembly methods of laser, which comprises the steps of:
S1, before being dismounted, one group of data D1 of the used group of first Calibration of Laser；The used group of the laser include cabinet, damper and
Ontology, the cabinet are the cube structure of one side opening, and the ontology is located in the cabinet, pass through damper and cabinet bullet
Property connection, laser gyro and accelerometer are fixedly mounted on the ontology, the damper passes through fixing screws and the cabinet
It is fixedly connected；The data include the location error between laser gyro between accelerometer；
The commissioning tooling for being used for commissioning ontology is installed to the ontology by S2；The commissioning tooling includes connecting plate, fore-stock
And after-poppet, the connecting plate are fixedly connected on the body upper surface, lead to after-poppet equipped with screw thread on the fore-stock
Hole, and the tapped through hole is pierced by by commissioning screw and is contacted with box opening face conflict；Commissioning screw is unclamped, commissioning is made
Screw is contacted with box opening face non-contravention, while tightening damper, and it is initially unhorizontal to measure the ontology long axis direction
Degree and the initial not horizontal of short-axis direction, are denoted as A1 and A2 respectively；
S3 screws in commissioning screw, contradicts commissioning screw with the box opening face and contacts, then unclamp damper, measures institute
Ontology long axis direction not horizontal and short-axis direction not horizontal are stated, is denoted as A3 and A4 respectively；
S4 removes the commissioning tooling and fixing screws, unloads lower body；When needing to reinstall ontology, ontology is put into institute
It states in cabinet, the commissioning tooling is installed on ontology again, screw in commissioning screw, make commissioning screw and the box opening
Face contradict contact, adjustment commissioning screw make the ontology long axis direction not horizontal and short-axis direction not horizontal be respectively A3 and
A4；
S5 installs fixing screws, tightens damper, then unclamps commissioning screw, makes commissioning screw and the box opening face not
Contact is contradicted, observes whether the ontology long axis direction not horizontal and short-axis direction not horizontal are A1 and A2；If so, complete
It is dismounted at high-precision；If it is not, then repeating step S3~S5.
2. a kind of used group inertia ontology high-precision assembly and disassembly methods of laser according to claim 1, which is characterized in that the S4
In to unload further include the operation that commissioning is carried out to the accelerometer or laser gyro after lower body.
3. a kind of used group inertia ontology high-precision assembly and disassembly methods of laser according to claim 2, which is characterized in that described right
The method of accelerometer progress commissioning are as follows:
S31 installs rib body, and the mounting plane mirror on described body side surface on the upper surface of accelerometer ontology, measures institute
State the azimuth difference α 3 of rib body and plane mirror；The rib body is hexahedron；
S32 after removing accelerometer ontology, measures the pitch angle of described rib body a front surface and a side surface, is denoted as β 3 and β 4 respectively；It is described
Front is the face that rib body faces plane mirror；
S33 re-measures the pitch angle of described rib body a front surface and a side surface, is denoted as β 5 and β 6 respectively after replacing accelerometer；
S34, adjusting the accelerometer ontology makes that β 5 is consistent with β 6, β 3 is consistent with β 4；
S35 on the body by the accelerometer ontology adjusted installation rotates the accelerometer ontology until the rib
The azimuth difference of body and plane mirror becomes α 3 again, completes the commissioning to accelerometer.
4. a kind of used group inertia ontology high-precision assembly and disassembly methods of laser according to claim 3, which is characterized in that the S4
The middle adjustment accelerometer ontology makes β 5 consistent with β 6, β 3 and the consistent method of β 4 are as follows: grinds the accelerometer ontology
Bottom mounting surfaces.
5. a kind of used group inertia ontology high-precision assembly and disassembly methods of laser according to claim 2, which is characterized in that described right
The method of gyro progress commissioning are as follows:
S51 is denoted as respectively by the pitch angle difference and roll angle difference of the D1 gyro needed replacing and other two gyro
α 1 and α 2；
S52, removes the gyro needed replacing, installs new gyro in the original location；One group of data D3 is demarcated, new top is obtained by D3
The pitch angle difference and roll angle difference of spiral shell and other two gyro, are denoted as α 3 and α 4 respectively；
S53 removes new gyro, installs rib body in new gyro upper surface, measures the pitch angle of described rib body a front surface and a side surface；
The rib body is hexahedron；
S54 adjusts the new gyro, the pitch angle of rib body a front surface and a side surface is made to rotate α 3- α 1 and α 4- respectively toward respective direction
α2；
S55, new gyro adjusted reinstall on ontology, demarcate one group of data D4；If D4 is consistent with D1, completion pair
The commissioning of gyro；If D4 is inconsistent with D1, repeatedly S52~S55.
6. a kind of used group inertia ontology high-precision assembly and disassembly methods of laser according to claim 5, which is characterized in that described
The method of the new gyro is adjusted in S54 are as follows: place the gasket of respective thickness in the new gyro bottom, keep rib body positive
α 3- α 1 and α 4- α 2 are rotated respectively toward respective direction with the pitch angle of side.
7. a kind of used group inertia ontology high-precision assembly and disassembly methods of described in any item laser, feature exist according to claim 1~6
In: the commissioning screw is three soket head cap screws.
8. a kind of used group inertia ontology high-precision assembly and disassembly methods of described in any item laser, feature exist according to claim 1~6
In: the damper is 8.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111664868A (en) * | 2020-05-28 | 2020-09-15 | 北京航天时代光电科技有限公司 | Method for calibrating and compensating installation error of single-axis gyroscope |
| CN112461071A (en) * | 2020-11-20 | 2021-03-09 | 魏强 | Method for measuring repeated installation error of inertial navigation equipment |
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