CN116448144B - Full-automatic triaxial non-magnetic constant-temperature calibration stand and automatic calibration method for avionic attitude indicator - Google Patents
Full-automatic triaxial non-magnetic constant-temperature calibration stand and automatic calibration method for avionic attitude indicator Download PDFInfo
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- CN116448144B CN116448144B CN202310217711.3A CN202310217711A CN116448144B CN 116448144 B CN116448144 B CN 116448144B CN 202310217711 A CN202310217711 A CN 202310217711A CN 116448144 B CN116448144 B CN 116448144B
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- 108010066278 cabin-4 Proteins 0.000 description 5
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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 a full-automatic three-axis non-magnetic constant temperature calibration table and an automatic calibration method of a navigation attitude indicator, which belong to the technical field of sensor calibration, wherein the full-automatic three-axis non-magnetic constant temperature calibration table comprises an azimuth axis assembly, an inclination axis assembly arranged on the azimuth axis assembly, a tool face angle axis assembly arranged on the inclination axis assembly and a high-low temperature constant temperature cabin arranged on the tool face angle axis assembly.
Description
Technical Field
The invention relates to the technical field of sensor calibration, in particular to a full-automatic triaxial non-magnetic constant-temperature calibration table and an automatic calibration method of a navigation attitude instrument.
Background
The process of scaling the sensor using standard instruments is called calibration. In particular to a piezoelectric pressure sensor, a special calibration device, such as a piston pressure meter, is used for generating a standard force with known size to act on the sensor, the sensor outputs a corresponding charge signal, at this time, the charge signal is measured by using a standard detection device with known precision, and the size of the charge signal is obtained, so that a group of input-output relations are obtained, and the series of processes is the calibration process of the piezoelectric pressure sensor. The three-axis turntable is widely applied to calibration of various direction sensors, and the structural stability and repeated positioning accuracy of the three-axis turntable have decisive influence on the measurement accuracy of the sensors.
The triaxial turntable in the prior art is mainly a manual triaxial nonmagnetic calibration table. The manual triaxial non-magnetic calibration table mainly comprises a tool surface intersecting axis system, an inclination angle axis system and an azimuth angle axis system, and is used for calibrating and calibrating directional probe rods of inclinometers and the like in an orthogonal triaxial mode. Each shaft consists of a non-magnetic bearing, a non-magnetic main shaft, a non-magnetic driving part, a non-magnetic locking part and the like. The whole equipment is non-magnetic, and can calibrate and calibrate the fluxgate sensor. The manual triaxial nonmagnetic check table has the defects that: (1) The manual operation equipment rotates, stops, locks and the like, so that the operation precision is low and the efficiency is low; (2) The cable is arranged outside each shaft, and the cable can be wound on the equipment when rotating, so that the cable cannot infinitely rotate at 360 degrees; (3) The device has no constant temperature function, can only check at room temperature, and cannot check high temperature and low temperature.
Disclosure of Invention
The invention provides a full-automatic three-axis non-magnetic constant-temperature calibration table and an automatic calibration method for a navigation posture instrument.
The specific technical scheme provided by the invention is as follows:
the invention provides an automatic checking method of a navigation posture instrument based on a full-automatic nonmagnetic constant temperature checking platform, which is characterized in that the adopted full-automatic triaxial nonmagnetic constant temperature checking platform comprises an azimuth axis assembly, an inclination axis assembly arranged on the azimuth axis assembly, a tool face angle axis assembly arranged on the inclination axis assembly and a high-low temperature constant temperature cabin arranged on the tool face angle axis assembly, wherein the azimuth axis assembly is a basic base of the full-automatic triaxial nonmagnetic constant temperature checking platform, and is configured to rotate at 0-360 degrees in the azimuth direction; the inclination angle shaft assembly is arranged on the azimuth shaft assembly through a U-shaped vertical arm, and is configured to rotate at an inclination angle of 0-360 degrees; the tool face angle shaft assembly is configured to rotate in the tool face angle direction by 0-360 degrees; according to the automatic inspection method of the avionic instrument, constant temperature fields with different temperatures and rotation positions of all axes of the three-axis non-magnetic constant temperature inspection table provided by the full-automatic three-axis non-magnetic constant temperature inspection table are adopted, basic parameters of sensitive elements in the avionic instrument at all temperature points are collected within a spherical range of 0-360 degrees, a temperature compensation curve of the basic parameters is fitted through a preset algorithm, and the precision of the avionic instrument is calibrated through the temperature compensation curve.
Optionally, an azimuth reference axis of the azimuth axis assembly of the full-automatic triaxial non-magnetic constant temperature calibration stand is orthogonal to an inclination reference axis of the inclination axis assembly, the inclination reference axis of the inclination axis assembly is orthogonal to a toolface angle reference axis of the toolface angle axis assembly, and an included angle between the azimuth axis assembly and the toolface angle axis assembly is adjusted through inclination pitch; the azimuth shaft assembly comprises a base, an azimuth reference shaft, a first nonmagnetic bearing group, a first worm gear and worm transmission device, a first brake locking device, a first nonmagnetic speed reducer, a first nonmagnetic motor, a first nonmagnetic encoder and a first nonmagnetic slip ring; the inclination shaft assembly comprises an azimuth rotating disc, an inclination reference shaft, a left vertical arm, a right vertical arm, a second non-magnetic bearing set, a second worm gear and worm transmission device, a second braking locking device, a second non-magnetic speed reducer, a second non-magnetic motor, a second non-magnetic encoder and a second non-magnetic slip ring, and the tool face angle shaft assembly comprises a tool face angle base, a tool face angle reference shaft, a third non-magnetic bearing set, a third worm gear and worm transmission device, a third braking locking device, a third non-magnetic speed reducer, a third non-magnetic motor, a third non-magnetic encoder and a third non-magnetic slip ring.
Optionally, the azimuth reference shaft is installed on the base by adopting the first nonmagnetic bearing group, the first brake locking device is fixed on the base, the azimuth reference shaft passes through the first brake locking device, and the first nonmagnetic motor is matched with the first nonmagnetic speed reducer and the first worm gear to drive the azimuth reference shaft to rotate relative to the base; the azimuth reference shaft is of a hollow structure, an electric signal channel is arranged in a middle hole of the azimuth reference shaft, and the azimuth reference shaft is provided with a first nonmagnetic slip ring and a first nonmagnetic encoder which is used for measuring the angle position of the azimuth reference shaft.
Optionally, the first nonmagnetic bearing group is a P4-level all-ceramic angular contact bearing group and is installed on the base in a pair of prepressing mode, the first nonmagnetic bearing group is connected with the azimuth reference shaft and the base, a worm of the worm gear and worm transmission device is installed on the base, the worm is driven by the first nonmagnetic motor through the first nonmagnetic speed reducer, a worm wheel is installed on the azimuth reference shaft, and when the first nonmagnetic motor rotates, the first worm gear and worm transmission device drives the azimuth reference shaft to rotate.
Optionally, the azimuth rotating disc is fixed at the upper end of the azimuth reference shaft, and the left standing arm and the right standing arm are respectively arranged at the left side and the right side of the azimuth rotating disc; the tilt angle reference shaft is arranged on the left vertical arm and the right vertical arm respectively by adopting the nonmagnetic bearing group, the second nonmagnetic motor is arranged on the left vertical arm or the right vertical arm, and the second nonmagnetic speed reducer is connected with the second nonmagnetic motor and the second worm gear transmission device so as to drive the tilt angle reference shaft to rotate.
Optionally, the second brake locking device is mounted on the left vertical arm or the right vertical arm, and the second brake locking device is located at a side of the tilt reference shaft away from the second nonmagnetic motor, the second nonmagnetic encoder and the second nonmagnetic slip ring are fixed on the tilt reference shaft, and the second nonmagnetic encoder and the second nonmagnetic slip ring are close to the second brake locking device.
Optionally, the toolface angle base is fixed on the inclination angle reference shaft, and the toolface reference shaft is rotatably installed on the toolface angle base by adopting the third nonmagnetic bearing group; the third non-magnetic motor is installed on the toolface angle base, the third non-magnetic speed reducer is connected with the third non-magnetic motor and the third worm gear and worm transmission device to drive the toolface angle reference shaft to rotate, the third braking locking device is fixed on the toolface angle base, the toolface angle reference shaft penetrates through the third braking locking device, the third non-magnetic encoder and the third non-magnetic slip ring are fixed on the toolface angle reference shaft, and the third non-magnetic encoder and the third non-magnetic slip ring are located at one end of the toolface angle reference shaft.
Optionally, the high-low temperature constant temperature cabin realizes the simulation of the environmental temperature change of the avionic instrument during use in a heating or cooling mode so as to realize the simulation analysis and measurement of the basic parameters of each sensor of the avionic instrument, the high-low temperature constant temperature cabin comprises a non-magnetoelectric heating sheet, a non-magnetoelectric refrigerating sheet, a temperature sensor, an inner cover, an outer cover, a heat conducting block, a heat insulation layer, a refrigerating sheet heat insulation support, a reference plate and a heat insulation mounting plate.
Optionally, the avionics instrument is mounted on the reference board during calibration, after the connectors are plugged, data of the avionics instrument can be transmitted to the acquisition system outside the calibration table through the connectors and the nonmagnetic slip rings of the shafts, meanwhile, each shaft of the calibration table transmits rotation and azimuth data of each shaft to the acquisition system through the nonmagnetic encoder and the nonmagnetic slip rings, after a group of test data acquisition is completed, each shaft of the calibration table is driven to rotate by the nonmagnetic motor to drive the avionics instrument to be placed at other different positions, output of the avionics instrument and azimuth data of each shaft are read again, and after the output of the avionics instrument and the azimuth data of each shaft at each position are measured and read in a 360-degree spherical range, the relation between the avionics instrument and the position is calculated, and basic parameters of each inertial element in the avionics instrument are calibrated.
Optionally, the automatic checking method of the avionic instrument adopts a full-closed loop control system to realize automatic control of the full-automatic nonmagnetic constant temperature checking platform, the industrial personal computer controls the starting and stopping of the nonmagnetic motor of the corresponding shaft by controlling the on-off of the electromagnetic valve of each shaft, the nonmagnetic encoder of each shaft detects the corresponding angle and transmits the measurement result to the industrial personal computer in the control cabinet through the nonmagnetic slip ring, and the industrial personal computer calculates the data of each shaft and judges whether the data reaches the set position or not, and automatically invokes the calibration program after the data reaches the set position to realize automatic checking of the basic parameters of each inertial element in the avionic instrument.
The beneficial effects of the invention are as follows:
the embodiment of the invention provides a full-automatic non-magnetic constant temperature calibration table adopted by an automatic calibration method of a avionic device, which comprises an azimuth axis assembly, an inclination axis assembly arranged on the azimuth axis assembly, a tool face angle axis assembly arranged on the inclination axis assembly and a high-low temperature constant temperature cabin arranged on the tool face angle axis assembly, wherein core parts adopt a non-magnetic structure design to avoid the influence of a magnetic field on an effective measurement area, thereby reducing the influence of system magnetic field distortion on the calibration precision of a sensor.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic front view of a fully automatic triaxial nonmagnetic constant temperature calibration stand according to an embodiment of the present invention;
FIG. 2 is a schematic side view of a fully automatic triaxial nonmagnetic constant temperature calibration stand according to an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional structural view of an azimuth axis assembly of an embodiment of the invention;
FIG. 4 is a schematic cross-sectional view of a tilt shaft assembly according to an embodiment of the present invention;
FIG. 5 is a schematic cross-sectional view of a toolface angle shaft assembly in accordance with an embodiment of the invention;
FIG. 6 is a schematic cross-sectional view of a high and low temperature constant temperature chamber according to an embodiment of the present invention;
FIG. 7 is a schematic top view of a high and low temperature constant temperature chamber according to an embodiment of the present invention;
FIG. 8 is a schematic block diagram of an electrical control system of a fully automatic triaxial nonmagnetic constant temperature calibration stand according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An automatic checking method of the avionic device based on the full-automatic non-magnetic constant-temperature checking table according to the embodiment of the invention will be described in detail with reference to fig. 1 to 8.
Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6, a full-automatic three-axis non-magnetic constant temperature calibration stand adopted by an automatic testing method of a avionic instrument according to an embodiment of the present invention includes an azimuth axis assembly 1, an inclination axis assembly 2 mounted on the azimuth axis assembly 1, a toolface angle axis assembly 3 mounted on the inclination axis assembly 2, and a high-low temperature constant temperature cabin 4 mounted on the toolface angle axis assembly 3, wherein the azimuth axis assembly 1 is a base of the full-automatic three-axis non-magnetic constant temperature calibration stand, and the azimuth axis assembly 1 is configured to rotate in an azimuth direction of 0-360 ° (rotate in XY quadrant); the tilt shaft assembly 2 is mounted on the azimuth shaft assembly 1 through a U-shaped vertical arm, and the tilt shaft assembly 2 is configured to rotate in a tilt angle direction of 0-360 degrees (rotate in YZ quadrants); the toolface angle shaft assembly 3 is configured to rotate 0-360 ° in the toolface angle direction (rotate in XZ quadrant); the azimuth reference shaft of the azimuth shaft assembly 1 is orthogonal to the inclination reference shaft of the inclination shaft assembly 2, the inclination reference shaft of the inclination shaft assembly 2 is orthogonal to the tool face angle reference shaft of the tool face angle shaft assembly 3, the included angle between the azimuth shaft assembly 1 and the tool face angle shaft assembly 3 is adjusted through inclination pitching, and then the high-low temperature constant temperature cabin 4 is driven to conduct position and angle adjustment in the spherical range of 0-360 degrees under the cooperation of the azimuth shaft assembly 1, the inclination shaft assembly 2 and the tool face angle shaft assembly 3, parameter reading of the calibration position in the spherical range of 0-360 degrees of a to-be-tested avionics instrument is achieved, and automatic parameter calibration of each inertial element in the avionics instrument in the spherical range of 0-360 degrees is achieved.
Referring to fig. 1, 2 and 8, according to the automatic checking method for the avionic instrument based on the full-automatic nonmagnetic constant-temperature checking platform, provided by the embodiment of the invention, constant-temperature fields with different temperatures and rotation positions of all axes of the triaxial nonmagnetic constant-temperature checking platform are provided by the full-automatic triaxial nonmagnetic constant-temperature checking platform, basic parameters of sensitive elements in the avionic instrument at all temperature points are acquired within a spherical range of 0-360 degrees, a temperature compensation curve of the basic parameters is fitted through a preset algorithm, and the precision of the avionic instrument is calibrated by adopting the temperature compensation curve.
Referring to fig. 1, 2, 3, 4, 5, 6 and 7, the azimuth axis assembly 1 includes a base 101, an azimuth axis 102, a first nonmagnetic bearing group 103, a first worm gear 104, a first brake locking device 105, a first nonmagnetic speed reducer 106, a first nonmagnetic motor 107, a first nonmagnetic encoder 108 and a first nonmagnetic slip ring 109, wherein the azimuth axis 102 is mounted on the base 101 using the first nonmagnetic bearing group 103, and the azimuth axis 102 is rotatable relative to the base 101. The base 101 is a basic platform of the full-automatic triaxial non-magnetic constant-temperature calibration stand, the stability of the base 101 is directly related to the calibration precision of a sensor of a voyage posture instrument, the base 101 is made of 6-series non-magnetic aluminum alloy, and the base 101 is molded through procedures such as annealing treatment, precision machining, stability aging treatment and the like after casting molding, so that the part precision and stability reliability of the base 101 are ensured.
Referring to fig. 1 and 2, the first brake locking device 105 is fixed to the base 101 and the azimuth reference shaft 102 passes through the first brake locking device 105, and when the azimuth reference shaft 102 rotates to a designated position, the first brake locking device 105 locks the degree of freedom of the azimuth reference shaft 102, preventing the position of the azimuth reference shaft 102 from being changed when other shafts are operated. The first nonmagnetic motor 107 cooperates with the first nonmagnetic speed reducer 106 and the first worm gear 104 to drive the azimuth reference shaft 102 to rotate relative to the base 101. The worm of the first worm gear and worm transmission device 104 is installed on the base 101, the first nonmagnetic motor 107 drives the worm to rotate through the first nonmagnetic speed reducer 106, the worm wheel is installed on the azimuth reference shaft 102, and when the first nonmagnetic motor 107 rotates, the worm wheel of the first worm gear and worm transmission device 104 is meshed and transmitted so as to drive the azimuth reference shaft 102 to rotate relative to the base 101.
Referring to fig. 1 and 2, the azimuth reference shaft 102 is of a hollow structure, a middle hole of the azimuth reference shaft 102 is an electrical signal channel, a first nonmagnetic slip ring 109 and a first nonmagnetic encoder 108 are arranged on the azimuth reference shaft 102, the first nonmagnetic encoder 108 is used for measuring the angular position of the azimuth reference shaft 102, and the full-automatic triaxial nonmagnetic constant temperature verification table in the embodiment of the invention transmits the position signals of the inclination shaft assembly 2 and the tool face angle shaft assembly 3 to a control system through the first nonmagnetic slip ring 109, so that the angular position of the azimuth reference shaft 102 in the azimuth direction of 0-360 degrees can be automatically adjusted under the cooperation of the first nonmagnetic encoder 108.
Referring to fig. 1 and 2, the first nonmagnetic bearing group 103 is a P4-stage full ceramic angular contact bearing group and is mounted on the base 101 in a pair of prepressing manner, and the first nonmagnetic bearing group 103 connects the azimuth reference shaft 102 with the base 101, so that the P4-stage full ceramic angular contact bearing group can not only avoid eccentric or tilting during rotation of the azimuth reference shaft 102, but also reduce movement resistance during angle adjustment of the azimuth reference shaft.
Referring to fig. 1 and 3, the tilt shaft assembly 2 includes an azimuth rotary disk 201, a tilt reference shaft 202, a left vertical arm 203, a right vertical arm 204, a second nonmagnetic bearing group 205, a second worm gear and worm transmission device 206, a second brake locking device 207, a second nonmagnetic speed reducer 208, a second nonmagnetic motor 209, a second nonmagnetic encoder 210, and a second nonmagnetic slip ring 211, wherein the azimuth rotary disk 201 is fixed at the upper end of the azimuth reference shaft 102, and the azimuth rotary disk 201 can be driven by the azimuth reference shaft 102 to perform position adjustment in the azimuth direction range of 0-360 °.
As shown with reference to fig. 1 and 3, a left standing arm 203 and a right standing arm 204 are respectively installed on the left and right sides of the azimuth rotary disk 201. Referring to fig. 3, a left vertical arm 203 and a right vertical arm 204 are respectively fixed on the left and right sides of the azimuth rotary disk 201, and can rotate along with the azimuth rotary disk 201 within the range of 0-360 ° in azimuth direction, and an inclination reference shaft 202 is respectively mounted on the left vertical arm 203 and the right vertical arm 204 by adopting a second nonmagnetic bearing group 205, so that the inclination reference shaft 202 can rotate within the range of 0-360 ° in inclination direction relative to the left vertical arm 203 and the right vertical arm 204.
Referring to fig. 1 and 3, a second non-magnetic motor 209 is mounted on the left vertical arm 203 or the right vertical arm 204, and a second non-magnetic speed reducer 208 connects the second non-magnetic motor 209 and the second worm gear 206 to realize rotation of the tilt reference shaft 202. The second brake locking device 207 is mounted on the left or right vertical arm 203, 204 and the second brake locking device 207 is located on the side of the tilt reference shaft 202 remote from the second non-magnetic motor 209, i.e. the second non-magnetic motor 209 and the second brake locking device 207 are located on both sides of the tilt reference shaft 202, the second brake locking device 207 is mounted on one of the left or right vertical arm 203, 204 and the second non-magnetic motor 209 is mounted on the other of the left or right vertical arm 203, 204.
For example, referring to fig. 3, a second nonmagnetic motor 209 is installed on the left vertical arm 203, a second brake locking device 207 is installed on the right vertical arm 204, the tilt reference shaft 202 is composed of two sections, respectively fixed to both sides of the toolface angle base 301, and a second nonmagnetic encoder 210 and a second nonmagnetic slip ring 211 are fixed to the tilt reference shaft 202 and the second nonmagnetic encoder 210 and the second nonmagnetic slip ring 211 are disposed near the second brake locking device 207.
Referring to fig. 3 and 4, the tilt reference shaft 202 is mounted with a certain pretightening force by the second nonmagnetic bearing group 205 at the fixed side and the right vertical arm 204, so as to ensure that the relative movement in the axial direction does not occur; the second nonmagnetic bearing group 205 on the support side is attached to the left vertical arm 203, thereby ensuring that the tilt reference axis 202 is orthogonal to the azimuth reference axis 102. The inclination reference shaft 202 is of a hollow structure, the middle hole is an electric signal channel, the second non-magnetic bearing group 205 on the fixed side is a P4-level all-ceramic angular contact bearing group, the second non-magnetic bearing group 205 on the supporting side is a P4-level all-ceramic deep groove ball bearing, the position precision and the rotation precision of the inclination reference shaft 202 can be guaranteed through the P4-level all-ceramic angular contact bearing group and the P4-level all-ceramic deep groove ball bearing, the orthogonal precision of the inclination reference shaft 202 and the azimuth reference shaft 102 is guaranteed, and the calibration precision of the avionics instrument can be further improved.
Referring to fig. 1, 2 and 5, the toolface angle shaft assembly 3 includes a toolface angle base 301, a toolface angle reference shaft 302, a third nonmagnetic bearing group 303, a third worm gear transmission 304, a third brake locking device 305, a third nonmagnetic speed reducer 306, a third nonmagnetic motor 307, a third nonmagnetic encoder 308 and a third nonmagnetic slip ring 309, wherein the toolface angle base 301 is fixed on the inclination angle reference shaft 202, and the toolface angle reference shaft 302 is rotatably mounted on the toolface angle base 301 by adopting the third nonmagnetic bearing group 303, that is, the toolface angle reference shaft 302 can rotate relative to the toolface angle base 301.
Referring to fig. 1, 2 and 5, a third non-magnetic motor 307 is installed on the toolface angle base 301, a third non-magnetic speed reducer 306 connects the third non-magnetic motor 307 and a third worm gear 304 to realize rotation of the driving toolface angle reference shaft 302 with respect to the toolface angle base 301, a third brake locking device 305 is fixed on the toolface angle base 301 and the toolface angle reference shaft 302 passes through the third brake locking device 305, when the toolface angle reference shaft 302 rotates to a set position with respect to the toolface angle base 301, the third brake locking device 305 locks the degree of freedom of the toolface angle reference shaft 302, preventing angular position change of the toolface angle reference shaft 302 caused by other shaft actions. A third nonmagnetic encoder 308 and a third nonmagnetic slip ring 309 are fixed on the toolface angle reference shaft 302 and the third nonmagnetic encoder 308 and the third nonmagnetic slip ring 309 are located at one end of the toolface angle reference shaft 302, by which the angular position of the toolface angle reference shaft 302 can be measured.
Referring to fig. 1, 2 and 5, the toolface angle reference shaft 302 is mounted on the toolface angle base 301 through a pair of third nonmagnetic bearing groups 303, wherein the third nonmagnetic bearing groups 303 adopt P4-stage all-ceramic angular contact bearing groups, two P4-stage all-ceramic deep groove ball bearings are mounted together with the toolface angle base 301, and the toolface angle reference shaft 302 is driven to rotate by a third nonmagnetic reducer 306 and a third nonmagnetic motor 307 through a third worm gear transmission device 304. The tested avionic instrument can be installed in the center hole of the tool face angle reference shaft 302 in a manner of adopting a tension structure for installation and fixation, so that the center shaft of the tested avionic instrument is ensured to be coaxial with the tool face angle reference shaft.
Referring to fig. 1, 2, 5 and 6, the high-low temperature constant temperature cabin 4 realizes the environmental temperature change when the simulated attitude and heading reference instrument is used by heating or cooling so as to realize the simulation analysis and measurement of the basic parameters of each sensor of the attitude and heading reference instrument, and the high-low temperature constant temperature cabin 4 comprises a non-magnetic electric heating sheet 401, a non-magnetic electric refrigerating sheet 402, a temperature sensor 403, an inner cover 404, an outer cover 405, a heat conducting block 406, a heat insulation layer 407, a refrigerating sheet heat insulation bracket 408, a reference plate 409 and a heat insulation mounting disc 410. The thermally insulated mounting plate 410 is secured to the toolface angle reference shaft 302. Illustratively, the thermally insulated mounting plate 410 may be secured to the toolface angle reference shaft 302 by a reference plate 411, and the inner housing 404, outer housing 405, reference plate 409 and thermally insulated mounting plate 410 are all disposed coaxially with the toolface angle reference shaft 302.
The high-low temperature constant temperature cabin 4 has the functions of simulating the environmental temperature change of the avionic instrument during use in a heating or cooling mode, and accurately controlling the environmental temperature change so as to conveniently and accurately measure the basic parameters of each sensor of the avionic instrument. The heat insulation mounting plate 410 is made of at least one of epoxy plates, synthetic stone plates, PEEK plates, ceramic and other processable heat insulation materials, the reference plate 409 is made of at least one of aluminum alloy and copper alloy heat conduction materials, and the refrigerating plate heat insulation support 408 is made of PEEK materials, so that precision machining is realized.
Referring to fig. 1, fig. 2, fig. 5, fig. 6 and fig. 7, during calibration, the avionics 5 is mounted on the reference board 409, after connectors are plugged, data of the avionics can be transmitted to an acquisition system outside the calibration table through the connectors and nonmagnetic slip rings of all shafts, meanwhile, all shafts of the calibration table transmit rotation and azimuth data of all shafts to the acquisition system through nonmagnetic encoders and nonmagnetic slip rings, after a group of test data acquisition is completed, all shafts of the calibration table are driven to rotate by nonmagnetic motors, the avionics is driven to be placed at other different positions, output of the avionics and azimuth data of all shafts are read again, after measuring and reading enough positions are carried out within a 360-degree spherical range, the relation between the avionics and the positions can be calculated, and basic parameters of all inertial elements in the avionics are calibrated.
Referring to fig. 1, 2, 5 and 6, the outer cover 405 is an outer cover of a stainless steel shell, the front, back, left, right and upper five surfaces of the cooling plate heat insulation support 408 are hollow structures, 5 non-magneto-electric cooling plates 402 are installed at the hollow positions, gaps between the non-magneto-electric cooling plates 402 and the cooling plate heat insulation support 408 are filled with heat insulation glue, an assembly layer is provided with a cover body with a heat insulation function, and the inner layer and the outer layer are not provided with direct communication channels. A heat conducting block 406 is arranged at the hot end of the non-magnetic electric refrigerating sheet 402, and the heat conducting block 406 is connected with a stainless steel shell.
An inner cover 404 made of red copper (T2) is arranged in the cover body with the assembled heat insulation function, a layer of nonmagnetic heating sheet and a temperature sensor are tightly attached to the outer layer of the red copper inner cover in the heat insulation cover body, the temperature inside the cover body is measured through the temperature sensor, and the temperature in the calibration process is controlled through a peripheral control system. The thermally insulated mounting plate 410 is connected via a universal interface with a verification station, and the datum plate is connected to the thermally insulated mounting plate during verification. And opening the outer cover to mount the avionic device on the reference plate, connecting the data line with the electric connector, and controlling the lifting and the heat preservation of the environmental dimension of the avionic device through the peripheral control system after the outer cover is mounted.
Referring to fig. 1 and 8, the automatic checking method of the avionic instrument according to the embodiment of the invention adopts a full-closed loop control system to realize the automatic control of the full-automatic non-magnetic constant temperature checking platform, the industrial personal computer controls the non-magnetic motor of the corresponding shaft to start and stop by controlling the on-off of the electromagnetic valve of each shaft, the non-magnetic encoder of each shaft detects the corresponding angle and transmits the measurement result to the industrial personal computer in the control cabinet through the non-magnetic slip ring, and the industrial personal computer calculates the data of each shaft and judges whether the data reaches the set position or not, and automatically invokes the calibration program after the data reaches the set position to realize the automatic checking of the basic parameters of each inertial element in the avionic instrument.
The embodiment of the invention provides a full-automatic triaxial non-magnetic constant temperature calibration table, which comprises an azimuth axis assembly, an inclination axis assembly arranged on the azimuth axis assembly, a tool face angle axis assembly arranged on the inclination axis assembly and a high-low temperature constant temperature cabin arranged on the tool face angle axis assembly, wherein core parts adopt a non-magnetic structure design to avoid the influence of a magnetic field on an effective measurement area, thereby reducing the influence of system magnetic field distortion on the calibration precision of a sensor.
It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims and the equivalents thereof, the present invention is also intended to include such modifications and variations.
Claims (6)
1. The automatic checking method of the avionic instrument based on the full-automatic nonmagnetic constant temperature checking platform is characterized in that the full-automatic nonmagnetic constant temperature checking platform comprises an azimuth axis assembly, an inclination axis assembly arranged on the azimuth axis assembly, a tool face angle axis assembly arranged on the inclination axis assembly and a high-low temperature constant temperature cabin arranged on the tool face angle axis assembly, wherein the azimuth axis assembly is a basic base of the full-automatic triaxial nonmagnetic constant temperature checking platform, and is configured to rotate in the azimuth direction by 0-360 degrees; the inclination angle shaft assembly is arranged on the azimuth shaft assembly through a U-shaped vertical arm, and is configured to rotate at an inclination angle of 0-360 degrees; the tool face angle shaft assembly is configured to rotate in the tool face angle direction by 0-360 degrees; the automatic inspection method of the avionic instrument adopts constant temperature fields with different temperatures provided by a full-automatic triaxial non-magnetic constant temperature inspection table and the rotation positions of all axes of the triaxial non-magnetic constant temperature inspection table, acquires basic parameters of sensitive elements in the avionic instrument at all temperature points in a spherical range of 0-360 degrees, fits a temperature compensation curve of the basic parameters through a preset algorithm, and adopts the temperature compensation curve to calibrate the precision of the avionic instrument; the azimuth reference shaft of the azimuth shaft assembly of the full-automatic triaxial non-magnetic constant-temperature verification table is orthogonal to the inclination reference shaft of the inclination shaft assembly, the inclination reference shaft of the inclination shaft assembly is orthogonal to the toolface angle reference shaft of the toolface angle shaft assembly, and an included angle between the azimuth shaft assembly and the toolface angle shaft assembly is adjusted through inclination pitching; the azimuth shaft assembly comprises a base, an azimuth reference shaft, a first nonmagnetic bearing group, a first worm gear and worm transmission device, a first brake locking device, a first nonmagnetic speed reducer, a first nonmagnetic motor, a first nonmagnetic encoder and a first nonmagnetic slip ring; the tool face angle shaft assembly comprises a tool face angle base, a tool face angle reference shaft, a third nonmagnetic bearing group, a third worm gear transmission device, a third brake locking device, a third nonmagnetic speed reducer, a third nonmagnetic motor, a third nonmagnetic encoder and a third nonmagnetic slip ring; the azimuth reference shaft is mounted on the base by adopting the first nonmagnetic bearing group, the first braking locking device is fixed on the base, the azimuth reference shaft passes through the first braking locking device, and the first nonmagnetic motor is matched with the first nonmagnetic speed reducer and the first worm gear transmission device to drive the azimuth reference shaft to rotate relative to the base; the azimuth reference shaft is of a hollow structure, an electric signal channel is arranged in a middle hole of the azimuth reference shaft, and the azimuth reference shaft is provided with the first nonmagnetic slip ring and the first nonmagnetic encoder which are used for measuring the angle position of the azimuth reference shaft; the method comprises the steps of installing a voyage instrument on a reference plate during calibration, after connectors are plugged, transmitting data of the voyage instrument to an acquisition system outside a calibration table through a connector and nonmagnetic slip rings of all shafts, simultaneously transmitting rotation and azimuth data of all shafts of the calibration table to the acquisition system through nonmagnetic encoders and nonmagnetic slip rings, after a group of test data acquisition is completed, driving all shafts of the calibration table to rotate by nonmagnetic motors to drive the voyage instrument to be placed at other different positions, reading output of the voyage instrument and azimuth data of all shafts again, and calculating the relation between the voyage instrument and the position after measuring and reading the output of the voyage instrument and the azimuth data of all shafts in a 360-degree spherical range, and calibrating basic parameters of all inertial elements in the voyage instrument; the automatic checking method of the avionic instrument adopts a full-closed loop control system to realize the automatic control of the full-automatic nonmagnetic constant temperature checking platform, an industrial personal computer controls the starting and stopping of the nonmagnetic motor of the corresponding shaft by controlling the on-off of each shaft electromagnetic valve, the position signals of the inclination shaft assembly and the tool face angle shaft assembly are transmitted to the control system through the first nonmagnetic sliding ring, the angle position of the azimuth reference shaft in the azimuth direction of 0-360 degrees is automatically adjusted under the cooperation of the first nonmagnetic encoder, the nonmagnetic encoder of each shaft detects the corresponding angle and transmits the measuring result to the industrial personal computer in the control cabinet through the nonmagnetic sliding ring, the industrial personal computer calculates the data of each shaft and judges whether the set position is reached, and after the set position is reached, the calibration program is automatically called to realize the automatic checking of the basic parameters of each inertial element in the avionic instrument.
2. The automatic inspection method of a navigation posture instrument according to claim 1, wherein the first nonmagnetic bearing group is a P4-stage all-ceramic angular contact bearing group and is mounted on the base in a pair of prepressing mode, the first nonmagnetic bearing group is connected with the azimuth reference shaft and the base, a worm of the first worm gear is mounted on the base, the worm is driven by the first nonmagnetic motor through the first nonmagnetic speed reducer, a worm wheel is mounted on the azimuth reference shaft, and when the first nonmagnetic motor rotates, the first worm gear drives the azimuth reference shaft to rotate.
3. The automatic inspection method of a navigation posture instrument according to claim 2, wherein the azimuth rotary disk is fixed at the upper end of the azimuth reference shaft, and the left standing arm and the right standing arm are respectively installed at the left side and the right side of the azimuth rotary disk; the tilt angle reference shaft is arranged on the left vertical arm and the right vertical arm respectively by adopting the nonmagnetic bearing group, the second nonmagnetic motor is arranged on the left vertical arm or the right vertical arm, and the second nonmagnetic speed reducer is connected with the second nonmagnetic motor and the second worm gear transmission device so as to drive the tilt angle reference shaft to rotate.
4. A method of automatically inspecting a avionic device according to claim 3, wherein the second brake locking means is mounted on the left or right vertical arm and the second brake locking means is located on a side of the tilt reference shaft remote from the second non-magnetic motor, the second non-magnetic encoder and the second non-magnetic slip ring being fixed on the tilt reference shaft and the second non-magnetic encoder and the second non-magnetic slip ring being close to the second brake locking means.
5. The method of claim 4, wherein the toolface base is fixed to the tilt reference shaft, the toolface reference shaft being rotatably mounted to the toolface base using the third nonmagnetic bearing group; the third non-magnetic motor is installed on the toolface angle base, the third non-magnetic speed reducer is connected with the third non-magnetic motor and the third worm gear and worm transmission device to drive the toolface angle reference shaft to rotate, the third braking locking device is fixed on the toolface angle base, the toolface angle reference shaft penetrates through the third braking locking device, the third non-magnetic encoder and the third non-magnetic slip ring are fixed on the toolface angle reference shaft, and the third non-magnetic encoder and the third non-magnetic slip ring are located at one end of the toolface angle reference shaft.
6. The automatic inspection method of the avionic device according to claim 1 or 2, wherein the high-low temperature constant temperature cabin is used for simulating environmental temperature change when the avionic device is used by heating or cooling so as to realize simulation analysis and measurement of basic parameters of each sensor of the avionic device, and comprises a magneto-free heating sheet, a magneto-free refrigerating sheet, a temperature sensor, an inner cover, an outer cover, a heat conducting block, a heat insulation layer, a refrigerating sheet heat insulation support, a reference plate and a heat insulation mounting disc.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204329980U (en) * | 2014-11-21 | 2015-05-13 | 浙江讯领科技有限公司 | A kind of electric dynamic triaxial is without magnetic teleclinometer verification turntable |
| CN204346451U (en) * | 2014-11-21 | 2015-05-20 | 浙江讯领科技有限公司 | A kind of electric dynamic triaxial is without magnetic turntable |
| CN110514228A (en) * | 2019-09-02 | 2019-11-29 | 哈尔滨工业大学 | Small and micro-satellite navigation attitude measuring system dynamic comprehensive performance testing device and method |
| CN114442194A (en) * | 2021-12-30 | 2022-05-06 | 宜昌测试技术研究所 | Magnetic logging instrument temperature characteristic calibrating device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6860023B2 (en) * | 2002-12-30 | 2005-03-01 | Honeywell International Inc. | Methods and apparatus for automatic magnetic compensation |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204329980U (en) * | 2014-11-21 | 2015-05-13 | 浙江讯领科技有限公司 | A kind of electric dynamic triaxial is without magnetic teleclinometer verification turntable |
| CN204346451U (en) * | 2014-11-21 | 2015-05-20 | 浙江讯领科技有限公司 | A kind of electric dynamic triaxial is without magnetic turntable |
| CN110514228A (en) * | 2019-09-02 | 2019-11-29 | 哈尔滨工业大学 | Small and micro-satellite navigation attitude measuring system dynamic comprehensive performance testing device and method |
| CN114442194A (en) * | 2021-12-30 | 2022-05-06 | 宜昌测试技术研究所 | Magnetic logging instrument temperature characteristic calibrating device |
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