CN212158626U

CN212158626U - Universal calibration test system for small integrated inertial measurement unit

Info

Publication number: CN212158626U
Application number: CN202020615402.3U
Authority: CN
Inventors: 张鹏; 李登; 刘鹏; 李孟委; 王树森
Original assignee: North University of China
Current assignee: North University of China
Priority date: 2020-04-22
Filing date: 2020-04-22
Publication date: 2020-12-15
Anticipated expiration: 2030-04-22

Abstract

A universal calibration test system for a small integrated inertial measurement unit comprises: the turntable assembly is used for installing a reference inertial measurement unit and a measured inertial measurement unit, and is electrically connected with the control assembly and used for detecting the measured inertial measurement unit. The beneficial effects of the utility model reside in that, the hardware module and the software module of the all kinds of test of being used to group that have integrateed commonly used, compact structure can be conveniently disposed according to the group type of being used to of difference, when realizing compatibility, also has the flexibility, can greatly reduce and be used to the group test cost.

Description

Universal calibration test system for small integrated inertial measurement unit

Technical Field

The utility model belongs to the technical field of the test of inertial equipment, specifically provide a general demarcation test system of group is used to small-size integration for it includes top and accelerometer to test to be used to the equipment of multiple group of being used to.

Background

In the development and production processes of the inertial device, various tests are generally performed on the inertial device to check and calibrate the inertial device. Testing of inertial devices typically includes velocity testing, position testing, and the like.

In the existing inertial measurement unit testing system, a measurement and control box is usually large in size, cannot be mounted on a rotary table to move together with the rotary table and can only be placed on the ground, data communication is carried out between the measurement and control box and the rotary table and between the measurement and control box and an inertial measurement unit to be tested through slip rings and wiring, and wiring is complex. Meanwhile, software and hardware do not have universality, and each development of an inertial group device usually needs to develop a test system independently, so that time and labor are wasted, and the development and maintenance costs are high.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a be used to general demarcation test system of group for be used to the equipment of establishing to multiple type and test, compact structure, the commonality is strong, can greatly reduce and be used to the group test cost.

The technical scheme of the utility model as follows:

a universal calibration test system for a small integrated inertial measurement unit comprises: the turntable assembly is used for installing a reference inertial measurement unit and a measured inertial measurement unit, and is electrically connected with the control assembly and used for detecting the measured inertial measurement unit.

Optionally, the reinforced case is composed of a case shell and a case cover plate, the case cover plate seals an opening at the front end of the case shell, a containing space is formed in the case shell and used for containing the rotary table component and the control component, and the case shell is located on the rotary table component and provided with a transparent acrylic plate.

Optionally, the turntable assembly comprises: the novel computer case comprises a rotating connecting seat, a U-shaped outer frame, an annular middle frame and an annular inner frame, wherein the middle of the U-shaped outer frame, the symmetrical ends of the annular middle frame and the symmetry of the annular inner frame are oppositely provided with rotating shafts matched with the connecting seat, the middle of the U-shaped outer frame is arranged at the bottom in the case through the rotating connecting seat, the two ends of the annular middle frame are connected with the end parts of the U-shaped outer frame through the connecting seat, the two ends of the annular inner frame are connected with the annular middle frame through the connecting seat, and the standard inertial unit and the measured inertial unit are installed on the annular inner frame.

Optionally, the axis of the rotating shaft of the U-shaped outer frame is perpendicular to the ground, the axis of the rotating shaft of the annular middle frame is parallel to the ground, and the axis of the rotating shaft of the annular inner frame is perpendicular to the axes of the rotating shafts of the U-shaped outer frame and the annular middle frame.

Optionally, the rotary joint seat comprises: connecting seat casing, driving motor, photoelectric encoder and electrically conductive sliding ring, driving motor, photoelectric encoder all set up with electrically conductive sliding ring in the connecting seat casing, the axis of rotation on U-shaped frame, annular center and the annular inside casing with electrically conductive sliding ring grafting cooperation, driving motor's output and rotation axis connection rotate with drive U-shaped frame, annular center and annular inside casing, photoelectric encoder is through the each item data in order to acquire U-shaped frame, annular center and annular inside casing to the detection of axis of rotation.

Optionally, the control assembly comprises: ammeter, display screen, switch, voltmeter, keyboard, power and main control unit, ammeter, display screen, switch, voltmeter, power and main control unit all fix the setting and are in the case shell, ammeter, display screen, switch, voltmeter, power all are connected with the main control unit electricity.

Optionally, an opening through which the ammeter, the display screen, the power switch and the voltmeter are exposed is formed in the case cover plate, and the ammeter, the display screen, the power switch, the voltmeter and the power supply are exposed through the opening in the case cover plate.

Optionally, the keyboard is slidably disposed in the housing, and the keyboard is electrically connected to the main control unit.

The beneficial effects of the utility model reside in that, the hardware module and the software module of the all kinds of test of being used to group that have integrateed commonly used, compact structure can be conveniently disposed according to the group type of being used to of difference, when realizing compatibility, also has the flexibility, can greatly reduce and be used to the group test cost.

Drawings

FIG. 1 is a second view of the whole shaft of the present invention;

FIG. 2 is an internal structure view of the present invention;

FIG. 3 is a structural view of the turntable assembly of the present invention;

fig. 4 is a cross-sectional structural view of the turntable assembly of the present invention;

fig. 5 is a structural diagram of the control assembly of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the combination or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 and 4, a universal calibration test system for a small integrated inertial measurement unit includes: the device comprises a reinforcing case 3, a rotary table assembly 1 and a control assembly 2, wherein the rotary table assembly 1 and the control assembly 2 are arranged in the reinforcing case 3, the rotary table assembly 1 is used for installing a reference inertial measurement unit and a measured inertial measurement unit 10, and the rotary table assembly 1 and the control assembly 2 are electrically connected and used for detecting the measured inertial measurement unit 10.

The reference inertial measurement unit adopts a high-precision MEMS inertial measurement unit, and comprises a three-axis high-precision MEMS gyroscope, a three-axis high-precision MEMS accelerometer and a three-axis magnetometer, wherein the accelerometer is used for sensing acceleration components on three axes, gyroscope angle information and magnetometer information, the magnetometer information is used for sensing geomagnetic field information, the reference inertial measurement unit mainly comprises two A/D converters AD7716BS and 64K E/EPROM (enhanced random access memory) X25650, the A/D converters adopt analog variables of all sensors of an IMU (inertial measurement Unit), the analog variables are converted into digital information and finally output pitching angles, inclination angles and side-slipping angles after being calculated by a CPU (Central processing Unit), and the E/EPROM mainly stores linear curve graphs of all the sensors of the IMU and part numbers and serial numbers of all. The measured inertial set is similar to the reference inertial set, but the precision of the measured inertial set is different from that of the reference inertial set, and the low-precision measured inertial set is calibrated by adopting the high-precision reference inertial set.

As shown in fig. 1, the reinforced chassis 3 is composed of a chassis housing 31 and a chassis cover 32, the chassis cover 32 closes an opening at a front end of the chassis housing 31, and the chassis housing 31 has a receiving space therein for receiving the turntable assembly 1 and the control assembly 2. The chassis shell 31 is provided with a transparent acrylic plate 31a at the position of the turntable assembly 1 for observing the operation condition of the turntable assembly 1. The reinforced case 3 is made of hard aluminum alloy, so that structural strength is guaranteed, meanwhile, the damping device can be arranged at the bottom of the case, and the operation condition of the rotary table can be checked at any time through the acrylic plate 31 a.

As shown in fig. 3 and 4, the turntable assembly 1 includes: the reinforced chassis comprises a rotating connecting seat 11, a U-shaped outer frame 12, an annular middle frame 13 and an annular inner frame 14, wherein the middle of the U-shaped outer frame 12, the symmetrical ends of the annular middle frame 13 and the symmetry of the annular inner frame 14 are provided with rotating shafts matched with the connecting seat, the middle of the U-shaped outer frame 12 is arranged at the bottom in the reinforced chassis 3 through the rotating connecting seat 11, the two ends of the annular middle frame 13 are connected with the end parts of the U-shaped outer frame 12 through the connecting seat, and the two ends of the annular inner frame 14 are connected with the annular middle frame 13 through the connecting seat. The axis of the rotating shaft of the U-shaped outer frame 12 is perpendicular to the ground, the axis of the rotating shaft of the annular middle frame 13 is parallel to the ground, and the axis of the rotating shaft of the annular inner frame 14 is perpendicular to the axes of the rotating shafts of the U-shaped outer frame 12 and the annular middle frame 13. The reference inertial set and the tested inertial set 10 are installed on the annular inner frame 14.

As shown in fig. 4, the rotary joint holder 11 includes: the connecting seat comprises a connecting seat shell 11a, a driving motor 11b, a photoelectric encoder 11c and a conductive sliding ring 11d, wherein the driving motor 11b, the photoelectric encoder 11c and the conductive sliding ring 11d are all arranged in the connecting seat shell 11a, the conductive sliding ring 11d is in a shaft sleeve shape, rotating shafts on a U-shaped outer frame 12, an annular middle frame 13 and an annular inner frame 14 are in plug-in fit with the conductive sliding ring 11d, the output end of the driving motor 11b is connected with the rotating shafts to drive the U-shaped outer frame 12, the annular middle frame 13 and the annular inner frame 14 to rotate, and the photoelectric encoder 11c detects the rotating shafts to acquire various data of the U-shaped outer frame 12, the annular middle frame 13 and the annular inner frame 14. The driving motor can adopt a torque motor. The conductive slip ring 11d is used for transmitting a control signal, the driving motor 11b is used for performing torque rotation, and the photoelectric encoder 11c is used for feeding back an angular position signal.

The turntable assembly 1 is made of aluminum alloy with good performance and has good cutting performance, strength and hardness, the turntable assembly 1 is of a vertical structure, the outer frame, the inner frame and the middle frame are respectively of a U-O-O shape, the axis of the U-shaped outer frame 12 is perpendicular to the ground, the axis of the annular middle frame 13 is parallel to the ground, the axis of the annular inner frame 14 is perpendicular to the axes of the annular middle frame 13 and the U-shaped outer frame 12, the measured inertial set and the reference inertial set are mounted on the annular inner frame 14 in a back-to-back mode, and test data are calibrated simultaneously.

As shown in fig. 1 and 5, the control assembly 2 includes: ammeter 21, display screen 22, switch 23, voltmeter 24, keyboard 25, power 26 and main control unit 27, ammeter 21, display screen 22, switch 23, voltmeter 24, power 26 and main control unit 27 all fix the setting in chassis casing 31, ammeter 21, display screen 22, switch 23, voltmeter 24, power 26 all are connected with main control unit 27 electricity, set up on chassis apron 32 and let ammeter 21, display screen 22, switch 23, voltmeter 24 expose the opening, ammeter 21, display screen 22, switch 23, voltmeter 24, power 26 expose through the opening on chassis apron 32, keyboard 25 slides and sets up in chassis casing 31, keyboard 25 is connected with main control unit 27 electricity, can take out from chassis casing 31 for the operation. The power supply 26 adopts a light power supply, outputs multiple paths of 24V, 12V, 5V, 12V-24V and the like, and is used for supplying power to the reference inertial measurement unit, the measured inertial measurement unit and the master control cabinet. The master control unit 27 may employ a PAMC motion controller, which is suitable for use with a variety of bus architectures, different motor types, and feedback components. And integrating various inertial measurement unit testing hardware modules to test the inertial measurement unit. The PMC bus expansion board is expanded through a PCI-E interface of the embedded core board, according to the development of standards IEEEStd 1386-2001 and IEEE Std 1386.1-2001, referring to the Single or double CMC standard, the PMC bus expansion board is provided with 8 PMC bus expansion slots; a drawable keyboard 25 and a touch screen are arranged below the case to complete the operation of the whole machine; the panel of the case is provided with corresponding inertial units and a turntable power supply switch for electrifying; the voltage and current detection is completed by an ammeter 21 and a voltmeter 24.

The reference inertial measurement unit and the measured inertial measurement unit are simultaneously arranged on the front and back surfaces of the inner frame of the turntable assembly 1, and power is supplied to the reference inertial measurement unit and the measured inertial measurement unit through a power supply 26. General test software can be recorded in the main control unit 27 in advance to control the motion attitude of the turntable assembly 1; the turntable assembly 1 can move in three axes to simulate various vehicle-mounted, missile-borne and airborne environments.

The universal test software for the inertial navigation unit is compiled by Labview, comprises a series of functions such as speed, position, swing, a stable platform and a centrifuge, integrates various modules such as signal acquisition, navigation calculation, initial alignment, a calibration method and off-line simulation, is organically combined, can fully meet different requirements of a user on simulation test and calibration of the inertial navigation system, and therefore work efficiency in an inertial navigation test link is effectively improved. The main functions of the method comprise key technologies of evaluating an inertial navigation unit, guiding development of an actual inertial navigation system and verifying an algorithm of the inertial navigation system.

The control assembly 2 may perform velocity, position test items including, but not limited to, velocity tests, position tests, and the like.

The setting content of the rate test comprises: (1) selecting an installation mode of the inertial unit; (2) setting test rate points, setting the sampling time of each rate point, and whether the rate points have a dynamic range or not; (3) setting a sampling period; (4) selecting a calculation result item, wherein the calculation result item comprises a scale factor, a scale factor relative error, a scale factor absolute error, a scale factor positive-negative asymmetry, a scale factor linearity and a scale factor stability, the calculation result item is automatically set according to the setting of the inertial measurement unit parameters, and a user can manually modify and select the calculation result item;

the setting content of the position test comprises the following steps: (1) setting local latitude and altitude; (2) selecting a test method, including a six-position method, an eight-position method, a twelve-position method and the like; (3) setting a position sequence and a corresponding combination body position; (4) setting sampling time and sampling times of each azimuth; (5) sampling period; (6) and selecting calculation result items, wherein the calculation result items comprise constant drift, random drift, drift coefficient related to g, zero offset stability, zero offset repeatability, random walk coefficient and the like. The calculation result item is automatically set according to the setting of the inertial measurement unit parameter, and a user can manually modify and select the calculation result item;

when in use, the working process of the inertial measurement unit test is as follows:

the first step is as follows: electrifying and starting;

the second step is that: selecting a test item by a user;

the third step: the system starts a data acquisition, turntable assembly 1 control and alarm module;

the fourth step: the system processes the real-time data;

the fifth step: the system sends the data to a user interface for data display and stores the data in the background;

and a sixth step: after the current test project is finished, generating a test report and outputting an image file;

the seventh step: the user can select the next test item to start the test;

eighth step: and finishing the test and exiting the system.

Test system, can be used to the group equipment of being used to of polytype and test, including but not limited to two superficial gyros, three superficial gyros, fiber optic gyroscope, laser gyro etc..

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.

Claims

1. The utility model provides a general calibration test system of small-size integration inertial measurement unit which characterized in that includes: consolidate quick-witted case (3) and set up revolving stage subassembly (1) and control assembly (2) in consolidating quick-witted case (3), revolving stage subassembly (1) is used for the installation benchmark to be used to the group and is used to the group (10) by survey, revolving stage subassembly (1) with control assembly (2) electricity is connected and is used for being surveyed to be used to group (10) and detect.

2. The small-sized integrated inertial measurement unit universal calibration test system according to claim 1, wherein the reinforced case (3) is composed of a case shell (31) and a case cover plate (32), the case cover plate (32) closes an opening at the front end of the case shell (31), a containing space is arranged in the case shell (31) and used for containing the turntable assembly (1) and the control assembly (2), and a transparent acrylic plate (31a) is arranged at the position, where the turntable assembly (1) is located, of the case shell (31).

3. The universal calibration test system for small integrated inertial measurement units according to claim 1, wherein the turntable assembly (1) comprises: rotate connecting seat (11), U-shaped frame (12), annular center (13) and annular inside casing (14), the symmetry of the middle part of U-shaped frame (12), the symmetry end of annular center (13) and annular inside casing (14) to be provided with connecting seat complex axis of rotation, U-shaped frame (12) middle part is in through rotating connecting seat (11) the bottom in reinforcing quick-witted case (3), annular center (13) both ends pass through the connecting seat with the end connection of U-shaped frame (12), annular inside casing (14) both ends pass through the connecting seat with the connection of annular center (13), the benchmark is used to organize and is surveyed and is used to organize (10) and be installed on annular inside casing (14).

4. The universal calibration test system for the small integrated inertial measurement unit according to claim 3, wherein the axis of the rotating shaft of the U-shaped outer frame (12) is perpendicular to the ground, the axis of the rotating shaft of the annular middle frame (13) is parallel to the ground, and the axis of the rotating shaft of the annular inner frame (14) is perpendicular to the axes of the rotating shafts of the U-shaped outer frame (12) and the annular middle frame (13).

5. The universal calibration test system for small-sized integrated inertial measurement units according to claim 3, wherein the rotary connecting base (11) comprises: connecting seat casing (11a), driving motor (11b), photoelectric encoder (11c) and electrically conductive sliding ring (11d) all set up in connecting seat casing (11a), the axis of rotation on U-shaped frame (12), annular center (13) and annular inside casing (14) with electrically conductive sliding ring (11d) cooperation of pegging graft, the output and the rotation axis connection of driving motor (11b) rotate with drive U-shaped frame (12), annular center (13) and annular inside casing (14), photoelectric encoder (11c) are through the each item data to the detection of axis of rotation in order to obtain U-shaped frame (12), annular center (13) and annular inside casing (14).

6. The universal calibration test system for small integrated inertial measurement units according to claim 2, characterized in that said control assembly (2) comprises: ammeter (21), display screen (22), switch (23), voltmeter (24), keyboard (25), power (26) and main control unit (27), ammeter (21), display screen (22), switch (23), voltmeter (24), power (26) and main control unit (27) all are fixed to be set up in chassis casing (31), ammeter (21), display screen (22), switch (23), voltmeter (24), power (26) all are connected with main control unit (27) electricity.

7. The universal calibration test system for the small-sized integrated inertial measurement unit according to claim 6, wherein an opening for exposing the ammeter (21), the display screen (22), the switch (23) and the voltmeter (24) is formed in the case cover plate (32), and the ammeter (21), the display screen (22), the switch (23), the voltmeter (24) and the power supply (26) are exposed through the opening in the case cover plate (32).

8. The universal calibration test system for small integrated inertial measurement units according to claim 6, wherein the keyboard (25) is slidably disposed in the housing (31), and the keyboard (25) is electrically connected to the main control unit (27).