CN102890518B - Method and system for analyzing accelerometer temperature control system - Google Patents
Method and system for analyzing accelerometer temperature control system Download PDFInfo
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- CN102890518B CN102890518B CN201210228851.2A CN201210228851A CN102890518B CN 102890518 B CN102890518 B CN 102890518B CN 201210228851 A CN201210228851 A CN 201210228851A CN 102890518 B CN102890518 B CN 102890518B
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Abstract
The invention provides a method and a system for analyzing an accelerometer temperature control system. The system comprises an accelerometer, a voltage difference judgment unit, a differential amplification unit, a voltage-to-current conversion unit, a heating unit, a temperature detection unit, a current-to-voltage conversion unit, a cooling unit and a relation curve fitting unit. By the method, the units are analyzed on the basis that the units are used for working, so that parameter values of the units in the optimal working state are obtained, and the design of the actual accelerometer temperature control system is guided. By the method and the system, the error of the design and actual control system of the units in the system can be well analyzed, and the accelerometer temperature control system is continuously improved and adjusted, so that the design of the accelerometer temperature control system is well guided.
Description
Technical field
The present invention relates to temperature control system technology, particularly a kind of ACTE control analysis method and systems technology field thereof.
Background technology
Accelerometer, as the important devices of inertia measurement, has that precision is high, long-time stability good, is applicable to the advantage of small acceleration analysis.The change of the environmental loads such as temperature, vibration and magnetic field all can affect accelerometer output accuracy, wherein the impact of temperature is particularly important, therefore, the impact considering environment temperature is needed when carrying out inertial navigation system design, design temperature control system is needed for Platform Inertial Navigation System, for accelerometer provides the working environment of a temperature relative constancy, thus improve navigation accuracy.
At present, the defect of ACTE control system is: thermal capacitance and the heat-conduction coefficient of controlled device are not easily measured, and lack accurate model, therefore, set up accurate ACTE control system, need to make progress in temperature control system analytical approach, modeling method etc.But in prior art, the design of temperature control circuit in ACTE control system, is gathered realized by continuous examination, lack the theory support of thermal design, when the environment changes, there will be the phenomenons such as control accuracy is overproof.For the links of ACTE control system, lack necessary analysis basis for estimation, do not consider the error between the links that ACTE controls and real system.
Summary of the invention
The object of the invention is to overcome prior art deficiency, provide a kind of analytical approach and analytic system of ACTE control system.
Technical solution of the present invention:
A kind of ACTE control system analysis method, comprises the steps:
Step one, the voltage corresponding to working temperature that setting accelerometer is expected, judges whether observed temperature sensor U ' is less than described setting voltage, if so, then enters next step;
Step 2, setting differential amplification coefficient is S
n, according to the multiple S preset
nnumerical value, is multiplied with the voltage difference delta U of described setting voltage with described ACTE control system feedback voltage respectively, and voltage signal is enlarged into u
0and be transferred to voltage transitions current unit;
Step 3, described voltage transitions current unit is judged, if it is in saturation region, accelerometer enters soaking condition, then described Δ U is converted to constant current signal, is transferred to the heating element of described accelerometer thus carries out saturated heating, if amplification region to described accelerometer inside, accelerometer enters soaking condition, then u
0be converted to the electric current proportional with described voltage difference delta U numerical value, through heating element, saturated heating carried out to described accelerometer inside; If dead band, then stop heating described accelerometer, described accelerometer enters cooling state;
Step 4, the change conversion of the temperature detecting described accelerometer inside is turned to curent change and is transferred to electric current changing voltage cell translation by temperature sensing unit is feedback voltage;
Step 5, judges whether described feedback voltage is less than described setting voltage, if then get back to step 2, if not, then described voltage transitions electric current link is in dead band state, then stop heating described accelerometer, enter cooling state.
Step 6, obtains S
nwhen different value, the response curve of accelerometer control system and stable state curve, then with amplification coefficient S
nbecome large overshoot Cheng Chengxian and raise the trend reduced again, and systematic steady state error is in same level;
Described temperature sensor will detect that the temperature variation of described accelerometer inside also comprises time delay process e when being converted into curent change
-τ sanalysis, τ is delay time, according to the multiple τ numerical value preset, show that τ is when different value, the response curve that system is corresponding and stable state curve, then become large with delay time τ and system overshoot and steady-state error become greatly.
When saturated heating is carried out to described accelerometer, also comprise single order identification model heated condition being set up to heat voltage and a temperature
wherein, K is scale-up factor, and T ' is inertia time constant, utilizes Recursive Extended Least Squares Method to carry out identification of Model Parameters to described single order identification model, show that temperature increases with voltage of heating and becomes large identification curve.
Also comprise described inertia time constant T m increase in proportion, according to the multiple m numerical value preset, show that m is when different value, the response curve that system is corresponding and stable state curve, then constant T becomes large and system overshoot and steady-state error diminish relation curve in time.
Also comprise and single order identification model is set up to described cooling state
wherein, K
jfor cooling link scale-up factor, T
jfor cooling link inertia time constant, by making accelerometer after certain temperature levels, stop heating, by the output of certain frequency collecting temperature sensor, to ACTE is down to room temperature, utilize the recursive algorithm of Recursive Extended Least Squares Method to carry out identification, obtain the identification curve of cooling temperature and time.
Also comprise and set up a little inertial element
according to the multiple numerical value k preset, show that k is when different value, the response curve that described control system is corresponding and stable state curve, then become large with the k large and described control system overshoot of change and steady-state error.
The present invention also provides a kind of ACTE control analysis system, comprises accelerometer, a voltage difference judging unit, for judging whether feedback voltage is less than setting voltage;
One differential amplification unit, the voltage difference delta U being used for amplifying described system feedback voltage and described setting voltage obtains;
One voltage transitions current unit, described voltage transitions current unit comprises judge module and modular converter, and described judge module judges described modular converter duty, if it is in saturation region, then described u
0be converted to constant current signal, be transferred to the heating element of described accelerometer thus saturated heating is carried out to described accelerometer inside, if amplification region, then u
0be converted to the electric current proportional with voltage difference delta U numerical value, through described heating element, saturated heating carried out to described accelerometer inside; If dead band, then stop heating described accelerometer, described accelerometer enters cooling state;
One intensification unit, receives the electric current through described voltage transitions current unit conversion, heats up to described accelerometer;
One temperature detecting unit, for detecting the temperature of described accelerometer inside;
One electric current changing voltage unit, the current conversion receiving the transmission of described temperature detecting unit is feedback voltage;
One temperature reducing unit, for being accelerometer radiating and cooling.
One relation curve fitting unit, for the relation of variable and system overshoot and steady-state error in each unit of matching, and selects optimum value.
Described temperature detecting unit also comprises a temperature sensor and a time delay module, and described temperature sensor is used for the temperature of sensitive accelerometers inside, and time delay module is for setting time delay process e
-τ s.
The present invention's beneficial effect compared with prior art:
ACTE control analysis method provided by the invention, actual acceleration temperature control system is analyzed, by the parameter optimization to differential amplification link, analysis to voltage transitions current course, time delay process, and modeling analysis is carried out to heating, cooling link, obtain each link error situation, demonstrate the stability of system, the design for ACTE control system provides reference more accurately and enlightenment.
Accompanying drawing explanation
Included accompanying drawing is used to provide the further understanding to the embodiment of the present invention, which constituting a part for instructions, for illustrating embodiments of the invention, and coming together to explain principle of the present invention with text description.Apparently, the accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is ACTE control system analysis process flow diagram;
Fig. 2 is ACTE control system analysis system chart;
Fig. 3 is voltage transitions current unit circuit structure diagram schematic diagram;
Fig. 4 is the graph of relation of voltage and electric current in voltage transitions electric current;
Fig. 5 is differential amplification coefficient is 800 system responses curves and stable state curve map;
Fig. 6 is differential amplification coefficient is 80 system responses curves and stable state curve map;
Fig. 7 is differential amplification coefficient is 8 system responses curves and stable state curve map;
Fig. 8 is amplification coefficient S
nwith overshoot and systematic steady state error relationship curve map;
Fig. 9 is temperature rising model identification curve and temperature rising model Identification Errors curve map;
Figure 10 is time delay is 1s response curve and stable state curve map;
Figure 11 is time delay is 3s response curve and stable state curve map;
Figure 12 is time delay is 5s response curve and stable state curve map;
Figure 13 is delay time and overshoot and systematic steady state error relationship curve map;
Figure 14 is m when being 10% response curve and stable state curve map;
Figure 15 is m when being 30% response curve and stable state curve map;
Figure 16 is m when being 50% response curve and stable state curve map;
Figure 17 is delay time and overshoot and systematic steady state error relationship curve map;
Figure 18 is little inertial element
time response curve and stable state curve map;
Figure 19 is little inertial element
response curve and stable state curve map;
The little inertial element of Figure 20 is
response curve and stable state curve map;
Figure 21 is little inertial element and overshoot and systematic steady state error relationship curve map;
Figure 22 is cooling Model Distinguish curve and cooling Model Distinguish error curve diagram.
Embodiment
Below in conjunction with accompanying drawing and instantiation, the present invention is described in detail.
A kind of ACTE control system analysis method is the analysis based on carrying out ACTE control system process flow diagram as shown in Figure 1:
Step one, the voltage corresponding to working temperature that setting accelerometer is expected, in the present embodiment, setting expects that working temperature is 65 DEG C, then corresponding voltage is 0.5492V, judges whether observed temperature sensor is less than described setting voltage, if so, then enters next step;
Step 2, setting differential amplification coefficient is S
n, S
naccording to the multiple values preset, be multiplied with the voltage difference delta U of described setting voltage with described system feedback voltage respectively, be amplified voltage signal u
0and be transferred to voltage transitions current unit, S in the present embodiment
nselect 8,80,800 respectively.
Step 3, judges described voltage transitions current unit, and described electric current changing voltage unit is the amplification by two-staged transistor, makes the following judgment its duty:
Be illustrated in figure 3 voltage transitions current unit circuit structure diagram, wherein, u
0the voltage after differential amplification unit is amplified, β
1=100 and β
2=30 are respectively T
1and T
2enlargement factor, U
bE1and U
bE2be respectively T
1and T
2conducting time base stage and the voltage of emitter.I
cfor output current.
1. saturation region: the voltage equation being in critical statisfaction state is:
Wherein, U
jfor supply voltage of heating; R
jfor the resistance of heating element; U
ce2for transistor T2 saturated time collector and emitter between voltage U
be1and U
be2base stage when being respectively transistor T1 and T2 saturated and the voltage between emitter;
That is, u is worked as
oduring > 1.5275, U
cevoltage is less than 0.3V, is in saturated.
Now output current is:
i
c＝(29-0.3)/150＝0.1913A (5)
2. cut-off region: work as u
o< (U
bE1+ U
bE2) time, i.e. u
oduring < 1.4V, I
b1for transistor T
1base current, now electric current is about 0A, and triode is in cut-off duty, and now output current is:
i
c＝0 (6)
3. amplification region: U
bE1+ U
bE2≤ u
0≤ U
saturated, namely as 1.4V≤u
oduring≤1.5275V, triode is in amplification duty.
Now the formula of voltage transitions electric current is:
i
c＝1.5×(u
o-1.4) (7)
To sum up, U is worked as
bE1+ U
bE2≤ u
0≤ U
saturatedtime, i
c=0.1252u
otransistor is in amplification duty, and now the formula of voltage transitions electric current is: i
c=1.5 × (u
o-1.4); Work as u
o< (U
bE1+ U
bE2), transistor is in cut-off duty, and now output current is: i
c=0; Work as u
0> U
saturatedtime be in saturated, now, then described u
0be converted to constant current signal i
c=(29-0.3)/150=0.1913A, carries out steady current heating to accelerometer.Thus draw the graph of relation of voltage and electric current in voltage transitions electric current as shown in Figure 4.
Step 4, the change conversion of the temperature detecting described accelerometer inside is turned to curent change and is transferred to electric current changing voltage cell translation by temperature sensing unit is feedback voltage;
Step 5, judges whether described feedback voltage is less than described setting voltage, if then get back to step 2, if not, then described voltage transitions electric current link is in dead band state, then stop heating described accelerometer, enter cooling state.
Step 6, obtains S
nwhen different value, S in the present embodiment
nselect 8,80,800 respectively, obtain the system responses curve as shown in Fig. 5,6,7 and stable state curve respectively, known:
Differential amplification coefficient is 800: the rise time is 490s; Overshoot is: 0.42%; Systematic steady state error is ± 0.047 DEG C.(as shown in Figure 5)
Differential amplification coefficient is 80: the rise time is 485s; Overshoot is: 0.15%; Systematic steady state error is ± 0.038 DEG C.(as shown in Figure 6)
Differential amplification coefficient is 8: the rise time is 390s; Overshoot is: 0.48%; Systematic steady state error is ± 0.06 DEG C.(as shown in Figure 7)
In summary, known with amplification coefficient S
nbecome large described system overshoot Cheng Chengxian and raise the curve reduced again, and systematic steady state error is in same level.(as shown in Figure 8)
Those skilled in the art can carry out multiple preset value selection according to the scope that the common practise of this area is allowing, but its result conforms to above-mentioned conclusion.
Further, when the present invention carries out saturated heating to described accelerometer, in order to consider the precision of the actual temperature control system designed, also comprising and heated condition analyzed, carrying out following steps:
1) the sheet operating voltage 29V that heats is set;
2) utilize digital acquisition system every the output of 1 second record temperature sensor, to design temperature 75 degree;
3) disconnect sheet of heating to power, accelerometer cooling data acquisition;
4) carry out identification to the data taked, setting up temperature rising model is single order identification model
wherein, K is scale-up factor, and T is inertia time constant, and Δ u is the voltage on heating element, and Δ t is the sampling period, utilizes Recursive Extended Least Squares Method to carry out identification of Model Parameters to described single order identification model, show that identification model is
thus show that temperature increases the large temperature rising model identification curve of change and temperature rising model Identification Errors curve with voltage of heating as shown in Figure 9.
Utilizing Recursive Extended Least Squares Method to carry out the computation process of identification of Model Parameters for described single order identification model, is the common practise of this area, specifically with reference to " process identification " (Fang Chongzhi edits, publishing house of Tsing-Hua University), can repeat no more herein.
Further, when the present invention enters cooling state to described accelerometer, in order to consider the precision of the actual temperature control system designed, also comprising and cooling state analyzed, carrying out following steps:
(1) the sheet operating voltage 29V that heats is set;
(2) to design temperature 70 degree, disconnect sheet of heating and power, to design temperature to normal temperature;
(3) utilize digital acquisition system every the output of 1 second record temperature sensor, accelerometer cooling data acquisition;
(4) carry out identification to the data taked, setting up temperature rising model is single order identification model:
wherein, T is the design temperature starting to lower the temperature, and wherein, k is cooling scale-up factor, and t is cooling inertia time constant, utilizes Recursive Extended Least Squares Method to carry out identification of Model Parameters, show that identification model is to described single order identification model
thus draw lower the temperature as shown in figure 22 Model Distinguish curve and cooling Model Distinguish graph of errors.
Utilizing Recursive Extended Least Squares Method to carry out the computation process of identification of Model Parameters for described single order identification model, is the common practise of this area, specifically with reference to " process identification " (Fang Chongzhi edits, publishing house of Tsing-Hua University), can repeat no more herein.
Further, for the temperature closed loop temperature control system set up, following analysis has been carried out:
(1) time delay process change, supposes in the present embodiment that delay time is respectively 1s, 3s and 5s, obtains the system responses curve as shown in Figure 10,11,12 and steady-state error curve respectively.
Result shows: when time delay is 1s, and the rise time is 485s; Overshoot is: 0.1%; Systematic steady state error is ± 0.009 DEG C.(as shown in Figure 10)
When time delay is 3s: the rise time is 485s; Overshoot is: 0.15%; Systematic steady state error is ± 0.04 DEG C.(as shown in figure 11)
When time delay is 5s: the rise time is 485s; Overshoot is: 0.55%; Systematic steady state error is ± 0.225 DEG C.(as shown in figure 12)
In sum: delay time is longer, overshoot is larger, and systematic steady state error is larger.(as shown in figure 13)
Those skilled in the art can carry out multiple preset value selection according to the scope that the common practise of this area is allowing, but its result conforms to above-mentioned conclusion.
(2) inertia time constant change in temperature model is added, by described inertia time constant T m increase in proportion, according to the multiple m numerical value preset, show that m is when different value, the response curve that system is corresponding and stable state curve, in the present embodiment, suppose that inertia time constant becomes large 10%, 30% and 50% respectively, system responses curve and steady-state error curve when the inertia time constant obtained respectively as shown in the figure becomes large.
Result shows: when inertia time constant becomes large 10%, the rise time is 535s; Overshoot is: 0.33%; Systematic steady state error is ± 0.028 DEG C.(as shown in figure 14)
In like manner, when inertia time constant becomes large 30%: the rise time is 630s; Overshoot is: 0.22%; Systematic steady state error is ± 0.015 DEG C.(as shown in figure 15)
When inertia time constant becomes large 50%: the rise time is 710s; Overshoot is: 0.15%; Systematic steady state error is ± 0.005 DEG C.(as shown in figure 16)
In sum: when inertia time constant is larger, overshoot is less, and systematic steady state error is less.(as shown in figure 17)
Those skilled in the art can carry out multiple preset value selection according to the scope that the common practise of this area is allowing, but its result conforms to above-mentioned conclusion.
(3) add little inertial element, owing to being suppose ideally for the modeling of each link, also may there are some little inertial elements in centre, thus also there is little inertial element in supposing the system and be
according to the multiple numerical value k preset, show that k is when different value, the response curve that described ACTE control system is corresponding and stable state curve, in the present embodiment, little inertial element is selected respectively
with
Result shows: little inertial element is,
rise time is 490s; Overshoot is: 0.22%; Systematic steady state error is ± 0.008 DEG C.(as shown in figure 18)
Little inertial element is
rise time is 490s; Overshoot is: 0.2%; Systematic steady state error is ± 0.007 DEG C.(as shown in figure 19)
Little inertial element is
rise time is 490s; Overshoot is: 0.39%; Systematic steady state error is ± 0.1 DEG C.(as shown in figure 20)
In sum, little inertial element coefficient is larger, and the rise time is similar, and overshoot is larger, and systematic steady state error is larger.(as shown in figure 21)
Those skilled in the art can carry out multiple preset value selection according to the scope that the common practise of this area is allowing, but its result conforms to above-mentioned conclusion.
Embodiment 2
Present invention also offers a kind of ACTE control analysis system, comprise accelerometer, also comprise a voltage difference judging unit, for judging whether feedback voltage U ' is less than setting voltage U;
One differential amplification unit, be used for amplifying described system feedback voltage U ' with the voltage difference delta U of described setting voltage U;
One voltage transitions current unit, described voltage transitions current unit comprises judge module and modular converter, described judge module judges described modular converter duty, if it is in saturation region, then described Δ U ' is converted to constant current signal, be transferred to the heating element of described accelerometer thus saturated heating is carried out to described accelerometer inside, if amplification region, then Δ U ' is converted to the electric current proportional with voltage difference delta U numerical value and carries out saturated heating through described heating element to described accelerometer inside; If dead band, then stop heating described accelerometer, described accelerometer enters cooling state;
One intensification unit, receives the electric current through described voltage transitions current unit conversion, heats up to described accelerometer;
One temperature detecting unit, for detecting the temperature of described accelerometer inside;
One electric current changing voltage unit, the current conversion receiving the transmission of described temperature detecting unit is feedback voltage U
0;
One temperature reducing unit, for being accelerometer radiating and cooling.
One relation curve fitting unit, for the relation of variable and system overshoot and steady-state error in each unit of matching, and selects optimum value.
The unspecified part of the present invention is known to the skilled person technology.
Claims (8)
1. an ACTE control system analysis method, is characterized in that comprising the steps:
Step one, the voltage corresponding to working temperature that setting accelerometer is expected, judges voltage U that observed temperature sensor is corresponding ' whether be less than described setting voltage if so, then to enter next step;
Step 2, setting differential amplification coefficient is S
n, according to the multiple S preset
nnumerical value, voltage U corresponding with described observed temperature sensor respectively ' be multiplied with the voltage difference delta U of described setting voltage, is amplified voltage signal u
0and be transferred to voltage transitions current unit;
Step 3, judge described voltage transitions current unit, if it is in saturation region, accelerometer enters soaking condition, then described u
0be converted to constant current signal, be transferred to the heating element of described accelerometer thus carry out saturated heating to described accelerometer inside, if amplification region, accelerometer enters soaking condition, then u
0be converted to the electric current proportional with described voltage difference delta U numerical value, through heating element, saturated heating carried out to described accelerometer inside; If dead band, then stop heating described accelerometer, described accelerometer enters cooling state;
Step 4, the change conversion of the temperature detecting described accelerometer inside is turned to curent change and is transferred to electric current changing voltage cell translation by temperature sensor is feedback voltage;
Step 5, judges whether described feedback voltage is less than described setting voltage, if then get back to step 2, if not, then voltage transitions electric current link is in dead band state, then stop heating described accelerometer, enter cooling state;
Step 6, obtains S
nwhen different value, the response curve of accelerometer control system and stable state curve, then with amplification coefficient S
nbecome large overshoot in first raising the trend reduced again, and systematic steady state error is in same level.
2. analytical approach according to claim 1, is characterized in that described temperature sensor will detect that the temperature variation of described accelerometer inside also comprises time delay process e when being converted into curent change
-τ sanalysis, τ is delay time, and s is Laplace operator, according to the multiple τ numerical value preset, show that τ is when different value, the response curve that system is corresponding and stable state curve, then become large with delay time τ and system overshoot and steady-state error become greatly.
3. analytical approach according to claim 1, when it is characterized in that carrying out saturated heating to described accelerometer, also comprises single order identification model heated condition being set up to heat voltage and a temperature
wherein, Δ T is temperature variation, and K is scale-up factor, and T ' is inertia time constant, utilizes Recursive Extended Least Squares Method to carry out identification of Model Parameters to described single order identification model, show that temperature increases with voltage of heating and becomes large identification curve.
4. analytical approach according to claim 3, characterized by further comprising described inertia time constant T ' m increase in proportion, according to the multiple m numerical value preset, show that m is when different value, the response curve that system is corresponding and stable state curve, then constant T becomes large and system overshoot and steady-state error diminish relation curve in time.
5. analytical approach according to claim 1, characterized by further comprising and set up single order identification model to described cooling state
wherein, T is the design temperature starting to lower the temperature, K
jfor cooling link scale-up factor, T
jfor cooling link inertia time constant, by making accelerometer after certain temperature levels, stop heating, by the output of certain frequency collecting temperature sensor, to ACTE is down to room temperature, utilize the recursive algorithm of Recursive Extended Least Squares Method to carry out identification, obtain the identification curve of cooling temperature and time.
6. ACTE control system analysis method according to claim 1, characterized by further comprising and set up a little inertial element
wherein, T
sfor little inertial element time constant, according to the multiple numerical value k preset, show that k is when different value, the response curve that described control system is corresponding and stable state curve, then become large with the k large and described control system overshoot of change and steady-state error.
7. an ACTE control analysis system, comprises accelerometer, characterized by further comprising with lower unit: a voltage difference judging unit, for judging whether feedback voltage is less than setting voltage;
One differential amplification unit, the voltage difference delta U being used for amplifying described system feedback voltage and described setting voltage obtains;
One voltage transitions current unit, described voltage transitions current unit comprises judge module and modular converter, and described judge module judges described modular converter duty, if it is in saturation region, then the voltage u after differential amplification unit is amplified
0be converted to constant current signal, be transferred to the heating element of described accelerometer thus saturated heating is carried out to described accelerometer inside, if amplification region, then u
0be converted to the electric current proportional with voltage difference delta U numerical value, through described heating element, saturated heating carried out to described accelerometer inside; If dead band, then stop heating described accelerometer, described accelerometer enters cooling state;
One intensification unit, receives the electric current through described voltage transitions current unit conversion, heats up to described accelerometer;
One temperature detecting unit, for detecting the temperature of described accelerometer inside;
One electric current changing voltage unit, the current conversion receiving the transmission of described temperature detecting unit is feedback voltage;
One temperature reducing unit, for being accelerometer radiating and cooling;
One relation curve fitting unit, for the relation of variable and system overshoot and steady-state error in each unit of matching, and selects optimum value.
8. ACTE control analysis system according to claim 7, it is characterized in that described temperature detecting unit comprises a temperature sensor and a time delay module, described temperature sensor is for detecting the temperature of sensitive accelerometers inside, and time delay module is for setting time delay process e
-τ s, τ is delay time, and s is Laplace operator.
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| CN108362472A (en) * | 2017-12-13 | 2018-08-03 | 中国特种飞行器研究所 | A kind of submarine navigation device model stability test module |
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