CN103776468A - Gyroscope and accelerometer batch calibration device and gyroscope and accelerometer batch calibration method - Google Patents
Gyroscope and accelerometer batch calibration device and gyroscope and accelerometer batch calibration method Download PDFInfo
- Publication number
- CN103776468A CN103776468A CN201410059298.3A CN201410059298A CN103776468A CN 103776468 A CN103776468 A CN 103776468A CN 201410059298 A CN201410059298 A CN 201410059298A CN 103776468 A CN103776468 A CN 103776468A
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- accelerometer
- motor
- sensor board
- gyroscope
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a gyroscope and accelerometer batch calibration device which is in communication connection with a CAN (control area network) bus and a man-machine interaction display panel. The calibration device comprises a base frame, a motor supporting plate vertically arranged on the base frame, and a bracket, wherein a motor is arranged on the motor supporting plate; a rotary frame driven by the motor to rotate is hinged on the bracket; slide grooves are formed in two sides of the rotary frame; calibration flat plates are connected to the slide grooves in an inserted manner; positioning devices for positioning sensor plates are arranged on the calibration flat plates; a limit switch for controlling the rotary angle of the rotary frame is arranged on the bracket. According to the gyroscope and the accelerometer batch calibration device, the sensor plates can be calibrated in batches in one time, so that the calibration efficiency is improved. The invention further discloses a gyroscope and accelerometer batch calibration method.
Description
Technical field
The present invention relates to a kind of gyroscope and accelerometer calibrating installation and method in batches.
Background technology
In inertial navigation system, conventionally can use gyroscope and accelerometer.Gyroscope is conventional in inertial navigation system, is mainly used in measured angular speed; Accelerometer is the another one important member in inertial navigation system, is mainly used in measuring and acceleration of gravity direction.And general data step heet given be a fixing coefficient, for different temperature, this coefficient there will be " temperature is waftd " phenomenon.In order to guarantee that inertial navigation system is not subject to the impact of temperature, need to make a covering device, in the temperature range of regulation, carry out the correction of coefficient.
Summary of the invention
For overcoming the deficiencies in the prior art, the invention provides a kind of gyroscope and accelerometer calibrating installation and method in batches, by calibrate in batches the circuit board that is equipped with MCU control chip, gyro sensor and acceleration transducer in constant temperature oven.
A kind of gyroscope and accelerometer calibrating installation in batches, described calibrating installation is connected with CAN bus and the communication of man-machine interaction display board; Described calibrating installation comprises pedestal, erects the motor support plate and the support that are arranged on pedestal; Described motor support plate is provided with motor, is hinged with the swivel mount that drives rotation by motor on described support; Described swivel mount both sides are provided with chute, be plugged with and proofread and correct flat board on chute; Described correction flat board is provided with the locating device of sensor board location; On described support, be also provided with the limit switch of controlling the swivel mount anglec of rotation.
Described machine shaft is connected with motor reducer, and the output terminal of motor reducer is provided with shaft coupling, and shaft coupling connects with swivel mount rotating shaft.
Described locating device comprises being located to be proofreaied and correct the elasticity thimble coordinating with sensor board circuit, the reference column coordinating with sensor board pilot hole on flat board and rotatably compresses part; Described locating device has multiple, and rectangular array distribution is in proofreading and correct on flat board.
Described chute is provided with trip bolt.
Four jiaos of described pedestal lower ends are provided with Level tune feet.
In the present invention, on swivel mount, both sides arrange chute, by proofreading and correct the dull and stereotyped mode fixed correction flat board that slips into chute and lock by lock-screw, convenient and simple, easily installation and removal; Proofread and correct flat board and be provided with the sensor board locating device that rectangular array is arranged, can once calibrate in batches multiple sensor boards, saved artificial and time; Described locating device is provided with elasticity thimble, reference column and rotatably compresses part, reference column is for the position of alignment sensor plate, elasticity thimble is just contacted with the circuit on sensor board, realize electrical connection, rotatably compress part jam sensor plate when sensor board is proofreaied and correct, after verification completes, outward winding and rotatably compress part, elasticity thimble can eject sensor board, therefore, this locating device is fixed and to take out sensor board very convenient; Proofread and correct flat board by a driven by motor, guarantee the stable of sensor board gyroscope survey angular velocity and angle, avoid error; Support is provided with limit switch, can better control the motor anglec of rotation.
A kind of gyroscope and accelerometer calibration steps in batches, comprises the following steps:
Step 1, by corresponding reference column on sensor board alignment correction flat board, compression sensor plate, makes sensor board circuit contact with elasticity thimble, and by rotatably compressing part, sensor board is fixed, and realizes sensor board and is connected with CAN bus;
Step 2, the horizontal feet of adjustment and limit switch make swivel mount, after horizontality, calibrating installation be put into constant temperature oven, the correction flat board that fixes sensor board is packed on the chute of swivel mount, and the trip bolt screwing on chute will be proofreaied and correct dull and stereotyped fixing, the temperature-time curve of setting constant temperature oven;
Step 3, man-machine interaction display board carry out ID address resolution to sensor board;
Step 4, man-machine interaction display board send calibration command to all the sensors plate, and then man-machine interaction display board enters listening state;
Step 5, electric machine rotation make the accelerometer zero clearing of sensor board;
Step 6, motor rotate with constant speed, and the scrambler carrying by motor reads electric machine rotation angle; Gyrostatic measurement data on sensor board is carried out to integration, obtain current gyrostatic taking measurement of an angle; Utilize the true angle that scrambler reads to revise the angle of gyroscope survey;
Step 9, constant temperature verification finish, and will proofread and correct flat board and take out from constant temperature oven, are placed in external worktable, and the check sensor plate coefficient of switching on, and sensor board correct coefficient is carried out to mark, leave and take qualified sensor board after power-off.
Before described step 5, motor, in slight oppositely stall state, is proofreaied and correct the dull and stereotyped swivel mount of following and is limited and maintenance level by limit switch, thereby limits the rotation of motor.
The present invention once can realize sensor board in batches and proofread and correct, and has improved the stability of calibration efficiency and calibration factor; Locating device can be realized the dismounting of each sensor board very easily; Sensor board is directly connected by elasticity thimble and correction are dull and stereotyped, has reduced redundant circuit; In checking procedure, the convenient flat board of proofreading and correct of chute connected mode carries out dismounting in constant temperature oven, has reduced the trouble that unitary rotation frame takes out from constant temperature oven.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present invention;
Fig. 2 is side view of the present invention;
Fig. 3 is the partial enlarged drawing at A place in Fig. 1;
Fig. 4 is flow chart of steps of the present invention.
In figure, be denoted as: 1-pedestal, 2-motor support plate, 3-support, 4-motor, 5-swivel mount, 6-chute, 7-proofreaies and correct dull and stereotyped, 8-sensor board, 9-limit switch, 10-motor reducer, 11-shaft coupling, 12-elasticity thimble, 13-reference column, 14-rotatably compresses part, 15-trip bolt, 16-Level tune feet.
Embodiment
For the ease of those skilled in the art's understanding, below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, 2, a kind of gyroscope and accelerometer be calibrating installation in batches, and described calibrating installation is connected with CAN bus and the communication of man-machine interaction display board; Described calibrating installation comprises pedestal 1, erects the motor support plate 2 and the support 3 that are arranged on pedestal 1; Described motor support plate 2 is provided with motor 4, is hinged with the swivel mount 5 that drives rotation by motor 4 on described support 3; Described swivel mount 5 both sides are provided with chute 6, be plugged with and proofread and correct dull and stereotyped 7 on chute 6; Described correction dull and stereotyped upper 7 is provided with the locating device that sensor board 8 is located; On described support 3, be also provided with the limit switch 9 of controlling swivel mount 5 anglecs of rotation.
Described motor 4 rotating shafts are connected with motor reducer 10, and the output terminal of motor reducer 10 is provided with shaft coupling 11, and shaft coupling 11 connects with swivel mount 5 rotating shafts.
Described locating device comprises being located to be proofreaied and correct the elasticity thimble 12 coordinating with sensor board 8 circuit, the reference column 13 coordinating with sensor board 8 pilot holes on dull and stereotyped 7 and rotatably compresses part 14.
Described locating device has multiple, and rectangular array distribution is in proofreading and correct on dull and stereotyped 7.
Described chute 6 is provided with trip bolt 15.
Four jiaos of described pedestal 1 lower ends are provided with Level tune feet 16.
In the present invention, on swivel mount, both sides arrange chute, by proofreading and correct the dull and stereotyped mode fixed correction flat board that slips into chute and lock by lock-screw, convenient and simple, easily installation and removal; Proofread and correct flat board and be provided with the sensor board locating device that rectangular array is arranged, can once calibrate in batches multiple sensor boards, saved artificial and time; Described locating device is provided with elasticity thimble, reference column and rotatably compresses part, reference column is for the position of alignment sensor plate, elasticity thimble is just contacted with the circuit on sensor board, realize electrical connection, rotatably compress part jam sensor plate when sensor board is proofreaied and correct, after verification completes, outward winding and rotatably compress part, elasticity thimble can eject sensor board, therefore, this locating device is fixed and to take out sensor board very convenient; Proofread and correct flat board by a driven by motor, guarantee the stable of sensor board gyroscope survey angular velocity and angle, avoid error; Support is provided with limit switch, can better control the motor anglec of rotation.
As shown in Figure 3, the present invention also provides a kind of and has carried out gyroscope and accelerometer calibration steps in batches according to above-mentioned means for correcting, specifically comprises the following steps:
Step 1, by corresponding reference column on sensor board alignment correction flat board, compression sensor plate, makes sensor board circuit contact with elasticity thimble, and by rotatably compressing part, sensor board is fixed, and realizes sensor board and is connected with CAN bus;
Step 2, the horizontal feet of adjustment and limit switch make swivel mount, after horizontality, calibrating installation be put into constant temperature oven, the correction flat board that fixes sensor board is packed on the chute of swivel mount, and the trip bolt screwing on chute will be proofreaied and correct dull and stereotyped fixing, the temperature-time curve of setting constant temperature oven;
Step 3, man-machine interaction display board carry out ID address resolution to sensor board;
Step 4, man-machine interaction display board send calibration command to all the sensors plate, and then man-machine interaction display board enters listening state;
Step 5, electric machine rotation make the accelerometer zero clearing of sensor board;
Step 6, motor rotate with constant speed, and the scrambler carrying by motor reads electric machine rotation angle; Gyrostatic measurement data on sensor board is carried out to integration, obtain current gyrostatic taking measurement of an angle; Utilize the true angle that scrambler reads to revise the angle of gyroscope survey;
Step 9, constant temperature verification finish, and will proofread and correct flat board and take out from constant temperature oven, are placed in external worktable, and the check sensor plate coefficient of switching on, and sensor board correct coefficient is carried out to mark, leave and take qualified sensor board after power-off.
Before described step 5, motor, in slight oppositely stall state, is proofreaied and correct the dull and stereotyped swivel mount of following and is limited and maintenance level by limit switch, thereby limits the rotation of motor.
Above content is in conjunction with concrete optimal way further description made for the present invention, should not assert that specific embodiment of the invention is confined to above explanation.For those skilled in the art, without departing from the inventive concept of the premise, can also make some simple deduction or replace, within the definite protection domain of the claim that all should be considered as being submitted to by the present invention.
Claims (9)
1. a gyroscope and accelerometer calibrating installation in batches, is characterized in that: described calibrating installation is connected with CAN bus and the communication of man-machine interaction display board; Described calibrating installation comprises pedestal (1), erects the motor support plate (2) and the support (3) that are arranged on pedestal (1); Described motor support plate (2) is provided with motor (4), is hinged with the swivel mount (5) that drives rotation by motor (4) on described support (3); Described swivel mount (5) both sides are provided with chute (6), be plugged with and proofread and correct dull and stereotyped (7) on chute (6); The described flat board upper (7) of proofreading and correct is provided with the locating device that sensor board (8) is located; On described support (3), be also provided with the limit switch (9) of controlling swivel mount (5) anglec of rotation.
2. gyroscope according to claim 1 and accelerometer calibrating installation in batches, it is characterized in that: described motor (4) rotating shaft is connected with motor reducer (10), the output terminal of motor reducer (10) is provided with shaft coupling (11), and shaft coupling (11) connects with swivel mount (5) rotating shaft.
3. gyroscope according to claim 2 and accelerometer calibrating installation in batches, is characterized in that: described locating device comprises being located to be proofreaied and correct the elasticity thimble (12) coordinating with sensor board (8) circuit, the reference column (13) coordinating with sensor board (8) pilot hole on dull and stereotyped (7) and rotatably compresses part (14).
4. gyroscope according to claim 3 and accelerometer calibrating installation in batches, is characterized in that: described locating device has multiple, and rectangular array distribution is in proofreading and correct on dull and stereotyped (7).
5. gyroscope according to claim 4 and accelerometer calibrating installation in batches, is characterized in that: described chute (6) is provided with trip bolt (15).
6. gyroscope according to claim 5 and accelerometer calibrating installation in batches, is characterized in that: four jiaos of described pedestal (1) lower ends are provided with Level tune feet (16).
7. a gyroscope and accelerometer calibration steps in batches, is characterized in that, comprises the following steps:
Step 1, by corresponding reference column on sensor board alignment correction flat board, compression sensor plate, makes sensor board circuit contact with elasticity thimble, and by rotatably compressing part, sensor board is fixed, and realizes sensor board and is connected with CAN bus;
Step 2, the horizontal feet of adjustment and limit switch make swivel mount, after horizontality, calibrating installation be put into constant temperature oven, the correction flat board that fixes sensor board is packed on the chute of swivel mount, and the trip bolt screwing on chute will be proofreaied and correct dull and stereotyped fixing, the temperature-time curve of setting constant temperature oven;
Step 3, man-machine interaction display board carry out ID address resolution to sensor board;
Step 4, man-machine interaction display board send calibration command to all the sensors plate, and then man-machine interaction display board enters listening state;
Step 5, electric machine rotation make the accelerometer zero clearing of sensor board;
Step 6, motor rotate with constant speed, and the scrambler carrying by motor reads electric machine rotation angle; Gyrostatic measurement data on sensor board is carried out to integration, obtain current gyrostatic taking measurement of an angle; Utilize the true angle that scrambler reads to revise the angle of gyroscope survey;
Step 7, repeating step 5, step 6, verification acquired results, if gained correction factor is consistent, carries out next step, if gained coefficient is inconsistent, duplication check, and feed back to man-machine interaction plate;
Step 8, the gyroscope after verification and the correction factor of accelerometer are written to the memory location on each sensor board;
Step 9, constant temperature verification finish, and will proofread and correct flat board and take out from constant temperature oven, are placed in external worktable, and the check sensor plate coefficient of switching on, and sensor board correct coefficient is carried out to mark, leave and take qualified sensor board after power-off.
8. step 10, whole verification finish.
9. gyroscope according to claim 7 and accelerometer calibration steps in batches, it is characterized in that: before described step 5, motor, in slight oppositely stall state, is proofreaied and correct the dull and stereotyped swivel mount of following and is limited and maintenance level by limit switch, thereby limits the rotation of motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410059298.3A CN103776468A (en) | 2014-02-21 | 2014-02-21 | Gyroscope and accelerometer batch calibration device and gyroscope and accelerometer batch calibration method |
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| CN201410059298.3A CN103776468A (en) | 2014-02-21 | 2014-02-21 | Gyroscope and accelerometer batch calibration device and gyroscope and accelerometer batch calibration method |
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| CN201410059298.3A Pending CN103776468A (en) | 2014-02-21 | 2014-02-21 | Gyroscope and accelerometer batch calibration device and gyroscope and accelerometer batch calibration method |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104459205A (en) * | 2014-12-08 | 2015-03-25 | 福建宁德核电有限公司 | Calibrating method and system of acceleration sensor |
| CN104501837A (en) * | 2015-01-15 | 2015-04-08 | 大连楼兰科技股份有限公司 | Vehicle-mounted OBD (On Board Diagnostic) device internally arranged inertia assembly parallel calibration and detection method and system thereof |
| CN104569495A (en) * | 2014-12-23 | 2015-04-29 | 北京航天控制仪器研究所 | High-precision calibration and test system for gyro accelerometers |
| CN104569497A (en) * | 2014-12-29 | 2015-04-29 | 杭州士兰微电子股份有限公司 | Turntable system for calibration and testing of accelerometer |
| CN104639288A (en) * | 2015-01-22 | 2015-05-20 | 广东省自动化研究所 | CAN (Controller Area Network) bus-based multi-sensor correction communication method |
| CN105783900A (en) * | 2016-03-15 | 2016-07-20 | 广东欧珀移动通信有限公司 | Sensor data calibrating method and device |
| CN106052741A (en) * | 2016-07-04 | 2016-10-26 | 苏州光之翼智能科技有限公司 | Batch calibration apparatus and method for temperatures of multi-axis aircraft sensors |
| CN106312968A (en) * | 2016-09-12 | 2017-01-11 | 东莞华贝电子科技有限公司 | Plane adjusting device |
| CN107289969A (en) * | 2016-04-01 | 2017-10-24 | 南京理工大学 | A kind of MEMS inertial sensor automatic batch scaling method and system |
| CN107421563A (en) * | 2017-06-02 | 2017-12-01 | 东南大学 | A kind of self-checking device and calibration method for multiple inertia measurement equipment |
| CN108037316A (en) * | 2017-12-01 | 2018-05-15 | 中国电子产品可靠性与环境试验研究所 | Device and method based on performance indicator test and appraisal accelerometer reliability |
| CN108548941A (en) * | 2018-04-23 | 2018-09-18 | 歌尔股份有限公司 | Rotary test device |
| CN108663069A (en) * | 2018-04-24 | 2018-10-16 | 歌尔股份有限公司 | The automatic calibration test equipment of acceleration gyroscope |
| TWI686610B (en) * | 2016-08-12 | 2020-03-01 | 國家中山科學研究院 | Calibration system of inertial measurement device |
| CN111457920A (en) * | 2020-04-16 | 2020-07-28 | 东南大学 | Rotation angle measuring method based on accelerometer |
| CN111856076A (en) * | 2019-04-24 | 2020-10-30 | 航天科工惯性技术有限公司 | Batch clamping tool, test system and test method for MEMS accelerometers |
| CN112362087A (en) * | 2021-01-13 | 2021-02-12 | 北京诺亦腾科技有限公司 | Novel industrial measurement structure and novel industrial measurement system |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104459205A (en) * | 2014-12-08 | 2015-03-25 | 福建宁德核电有限公司 | Calibrating method and system of acceleration sensor |
| CN104569495A (en) * | 2014-12-23 | 2015-04-29 | 北京航天控制仪器研究所 | High-precision calibration and test system for gyro accelerometers |
| CN104569495B (en) * | 2014-12-23 | 2017-05-10 | 北京航天控制仪器研究所 | High-precision calibration and test system for gyro accelerometers |
| CN104569497A (en) * | 2014-12-29 | 2015-04-29 | 杭州士兰微电子股份有限公司 | Turntable system for calibration and testing of accelerometer |
| CN104501837A (en) * | 2015-01-15 | 2015-04-08 | 大连楼兰科技股份有限公司 | Vehicle-mounted OBD (On Board Diagnostic) device internally arranged inertia assembly parallel calibration and detection method and system thereof |
| CN104639288A (en) * | 2015-01-22 | 2015-05-20 | 广东省自动化研究所 | CAN (Controller Area Network) bus-based multi-sensor correction communication method |
| CN104639288B (en) * | 2015-01-22 | 2018-01-05 | 广东省自动化研究所 | Multisensor correction communication method based on CAN |
| CN105783900B (en) * | 2016-03-15 | 2018-11-27 | 广东欧珀移动通信有限公司 | A kind of calibration method and device of sensing data |
| CN105783900A (en) * | 2016-03-15 | 2016-07-20 | 广东欧珀移动通信有限公司 | Sensor data calibrating method and device |
| CN107289969A (en) * | 2016-04-01 | 2017-10-24 | 南京理工大学 | A kind of MEMS inertial sensor automatic batch scaling method and system |
| CN106052741A (en) * | 2016-07-04 | 2016-10-26 | 苏州光之翼智能科技有限公司 | Batch calibration apparatus and method for temperatures of multi-axis aircraft sensors |
| CN106052741B (en) * | 2016-07-04 | 2018-07-20 | 苏州光之翼智能科技有限公司 | A kind of Multi-axis aircraft sensor batch temperature calibrating installation and its method |
| TWI686610B (en) * | 2016-08-12 | 2020-03-01 | 國家中山科學研究院 | Calibration system of inertial measurement device |
| CN106312968A (en) * | 2016-09-12 | 2017-01-11 | 东莞华贝电子科技有限公司 | Plane adjusting device |
| CN107421563A (en) * | 2017-06-02 | 2017-12-01 | 东南大学 | A kind of self-checking device and calibration method for multiple inertia measurement equipment |
| CN108037316A (en) * | 2017-12-01 | 2018-05-15 | 中国电子产品可靠性与环境试验研究所 | Device and method based on performance indicator test and appraisal accelerometer reliability |
| CN108037316B (en) * | 2017-12-01 | 2020-10-30 | 中国电子产品可靠性与环境试验研究所 | Equipment and method for evaluating reliability of accelerometer based on performance index |
| CN108548941A (en) * | 2018-04-23 | 2018-09-18 | 歌尔股份有限公司 | Rotary test device |
| CN108548941B (en) * | 2018-04-23 | 2020-08-25 | 歌尔股份有限公司 | Rotary testing device |
| CN108663069A (en) * | 2018-04-24 | 2018-10-16 | 歌尔股份有限公司 | The automatic calibration test equipment of acceleration gyroscope |
| CN108663069B (en) * | 2018-04-24 | 2020-09-18 | 歌尔股份有限公司 | Automatic calibration test equipment for acceleration gyroscope |
| CN111856076A (en) * | 2019-04-24 | 2020-10-30 | 航天科工惯性技术有限公司 | Batch clamping tool, test system and test method for MEMS accelerometers |
| CN111457920A (en) * | 2020-04-16 | 2020-07-28 | 东南大学 | Rotation angle measuring method based on accelerometer |
| CN112362087A (en) * | 2021-01-13 | 2021-02-12 | 北京诺亦腾科技有限公司 | Novel industrial measurement structure and novel industrial measurement system |
| CN112362087B (en) * | 2021-01-13 | 2021-08-10 | 北京诺亦腾科技有限公司 | Industrial measurement structure and industrial measurement system |
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