CN104713572B - A kind of inertial navigation system dynamic testing method - Google Patents
A kind of inertial navigation system dynamic testing method Download PDFInfo
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- CN104713572B CN104713572B CN201310675186.6A CN201310675186A CN104713572B CN 104713572 B CN104713572 B CN 104713572B CN 201310675186 A CN201310675186 A CN 201310675186A CN 104713572 B CN104713572 B CN 104713572B
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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
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Abstract
The invention belongs to inertial navigation technology, it is related to a kind of inertial navigation system dynamic testing method.The present invention comprises the following steps：1）Three axles roll；2）Three-axis swinging；3）Spiral.The present invention substantially increases problem system stable loop failure and lock puts the probability of failure reproduction, saves human and material resources and time, improves efficiency, reduces cost.
Description
Technical field
The invention belongs to inertial navigation technology, it is related to a kind of inertial navigation system dynamic testing method.
Background technology
Often report stable loop failure and lock put failure to certain type inertial navigation system in line, but return to behind internal field, therefore
Barrier does not usually reappear.The failure reproducing method of current system is limited, and substantially all cold test, environmental test are done entirely, by
It is very big in system internal field use environment and outfield difference, cause outfield problem to reappear.It has the disadvantage：The manpower and thing of consumption
Power is more, and efficiency is low, and cost is high, causes the rework time of system long.
The content of the invention
The technical problems to be solved by the invention are：Propose that a kind of dynamic environment of energy simulation system in line is surveyed
Method for testing, simulation system reappears in the dynamic environment of line and exposes the system report appeared in taking a flight test in advance and stablize back
Road failure and lock put failure problems.
The technical scheme that the present invention takes is：A kind of inertial navigation system dynamic testing method, it is characterized in that methods described includes
Following steps：
1）Three axles roll：
1.1）Inertial navigation system is arranged on three-axle table, billing machine, confirms that system energization is normal；
1.2）Oscillograph is connected on the plug that the ground inspection of inertial navigation is drawn, respectively the orientation of monitoring system, interior rolling, pitching electricity
Machine is high-end and locks discharge signal waveform；
1.3）System drives full machine, normal compass alignment is completed, into navigational state；
1.4）After system is navigated 5 minutes, three axles are rolled with positive maximum angular rate simultaneously, as shown in table 1, are kept for 30 minutes
Stop rolling afterwards, umber of pulse Nx, Ny of the axle of level two output is less than 50^；
1.5）Three axles are rolled with negative sense maximum angular rate simultaneously, as shown in table 1, and rolling, level are stopped after being kept for 30 minutes
Umber of pulse Nx, Ny of two axles output is less than 50^, by turntable back to zero；
Table 1
| Project | Maximum angular rate (flying condition) | Three-axle table maximum angular acceleration |
| Orientation | ±180°/s | ±30°/s2 |
| Pitching | ±40°/s | ±30°/s2 |
| Roll | ±400°/s | ±40°/s2 |
2）Three-axis swinging：
2.1）Pitching and roll axle are all gone to+60 °, orientation and pitch axis are set as shown in table 2, and roll axle is with frequency
0.6HZ, 70 ° of settings of amplitude, three axles wave, stop waving after being kept for 15 minutes simultaneously, umber of pulse Nx, Ny of the axle of level two output
Less than 50^；
2.2）Keep pitching and roll axle at+60 °, orientation and pitch axis are set as shown in table 2, and roll axle is with frequency
10HZ, 0.25 ° of setting of amplitude, three axles wave, stop waving after being kept for 15 minutes simultaneously, the umber of pulse Nx of the axle of level two output,
Ny is less than 50^；
2.3）Pitching and roll axle are all gone to -60 °, orientation and pitch axis are set as shown in table 2, and roll axle is with frequency
0.6HZ, 70 ° of settings of amplitude, three axles wave, stop waving after being kept for 15 minutes simultaneously, umber of pulse Nx, Ny of the axle of level two output
Less than 50^；
2.4）Keep pitching and roll axle at -60 °, orientation and pitch axis are set as shown in table 2, and roll axle is with frequency
10HZ, 0.25 ° of setting of amplitude, three axles wave, stop waving after being kept for 15 minutes simultaneously, the umber of pulse Nx of the axle of level two output,
Ny is less than 50^, by turntable back to zero.
Table 2
3）Spiral：
3.1）Pitch axis is gone to+20 °, roll axle goes to+80 ° of initial positions, by roll axle from+80 ° to -80 ° swings,
Azimuth axis is rotated with 50 °/s counterclockwise simultaneously, is stopped operating after being kept for 10 minutes, and umber of pulse Nx, Ny of the axle of level two output is small
In 50^；
3.2）Pitch axis is gone to+20 °, roll axle goes to -80 ° of initial positions, by roll axle from -80 ° to+80 ° swings,
Azimuth axis is rotated with 50 °/s clockwise simultaneously, is stopped operating after being kept for 10 minutes, and umber of pulse Nx, Ny of the axle of level two output is small
In 50^；
3.3）Pitch axis is gone to+20 °, roll axle goes to+80 ° of initial positions, and azimuth axis is rotated with 180 °/s clockwise,
Stopped operating after being kept for 10 minutes, umber of pulse Nx, Ny of the axle of level two output is less than 50^；
3.4）Pitch axis is gone to+20 °, roll axle goes to -80 ° of initial positions, and azimuth axis is rotated with 180 °/s counterclockwise,
Stopped operating after being kept for 10 minutes, umber of pulse Nx, Ny of the axle of level two output is less than 50^；
3.5）Rotate after stopping, by three-axle table back to zero, system closes full machine.
The present invention has the advantage that and beneficial effect：The present invention provides acceleration to inertial navigation and angle adds by ground installation
Speed, the dynamic use environment of simulation inertial navigation aboard, then by data acquisition and signal testing, the system report of finding out is stablized back
The reason for road failure and lock put failure；The present invention substantially increases problem system stable loop failure and lock puts the several of failure reproduction
Rate, saves human and material resources and time, improves efficiency, reduces cost.
Embodiment
The present invention is described in further details below.
The present invention is arranged on three-axle table based on a three-axle table, inertial navigation system, in inserting that the ground inspection of inertial navigation is drawn
On head, oscillograph is connected, the method and step specifically tested is as follows：
1）Three axles roll：
1.1）Inertial navigation system is arranged on three-axle table, billing machine, confirms that system energization is normal；The billing machine is list
Solely give computer power supply；
1.2）Oscillograph is connected on the plug that the ground inspection of inertial navigation is drawn, respectively the orientation of monitoring system, interior rolling, pitching electricity
Machine is high-end and locks discharge signal waveform；
1.3）System drives full machine, normal compass alignment is completed, into navigational state；It is described to drive full machine, i.e., supplied to total system
Electricity；
1.4）After system is navigated 5 minutes, three axles are rolled with positive maximum angular rate simultaneously, as shown in table 1, are kept for 30 minutes
Stop rolling afterwards, umber of pulse Nx, Ny of the axle of level two output is less than 50^；
1.5）Three axles are rolled with negative sense maximum angular rate simultaneously, as shown in table 1, and rolling, level are stopped after being kept for 30 minutes
Umber of pulse Nx, Ny of two axles output is less than 50^, by turntable back to zero；
2）Three-axis swinging：
2.1）Pitching and roll axle are all gone to+60 °, orientation and pitch axis are set as shown in table 2, and roll axle is with frequency
0.6HZ, 70 ° of settings of amplitude, three axles wave, stop waving after being kept for 15 minutes simultaneously, umber of pulse Nx, Ny of the axle of level two output
Less than 50^；
2.2）Keep pitching and roll axle at+60 °, orientation and pitch axis are set as shown in table 2, and roll axle is with frequency
10HZ, 0.25 ° of setting of amplitude, three axles wave, stop waving after being kept for 15 minutes simultaneously, the umber of pulse Nx of the axle of level two output,
Ny is less than 50^；
2.3）Pitching and roll axle are all gone to -60 °, orientation and pitch axis are set as shown in table 2, and roll axle is with frequency
0.6HZ, 70 ° of settings of amplitude, three axles wave, stop waving after being kept for 15 minutes simultaneously, umber of pulse Nx, Ny of the axle of level two output
Less than 50^；
2.4）Keep pitching and roll axle at -60 °, orientation and pitch axis are set as shown in table 2, and roll axle is with frequency
10HZ, 0.25 ° of setting of amplitude, three axles wave, stop waving after being kept for 15 minutes simultaneously, the umber of pulse Nx of the axle of level two output,
Ny is less than 50^, by turntable back to zero.
3）Spiral：
3.1）Pitch axis is gone to+20 °, roll axle goes to+80 ° of initial positions, by roll axle from+80 ° to -80 ° swings,
Azimuth axis is rotated with 50 °/s counterclockwise simultaneously, is stopped operating after being kept for 10 minutes, and umber of pulse Nx, Ny of the axle of level two output is small
In 50^；
3.2）Pitch axis is gone to+20 °, roll axle goes to -80 ° of initial positions, by roll axle from -80 ° to+80 ° swings,
Azimuth axis is rotated with 50 °/s clockwise simultaneously, is stopped operating after being kept for 10 minutes, and umber of pulse Nx, Ny of the axle of level two output is small
In 50^；
3.3）Pitch axis is gone to+20 °, roll axle goes to+80 ° of initial positions, and azimuth axis is rotated with 180 °/s clockwise,
Stopped operating after being kept for 10 minutes, umber of pulse Nx, Ny of the axle of level two output is less than 50^；
3.4）Pitch axis is gone to+20 °, roll axle goes to -80 ° of initial positions, and azimuth axis is rotated with 180 °/s counterclockwise,
Stopped operating after being kept for 10 minutes, umber of pulse Nx, Ny of the axle of level two output is less than 50^；
3.5）Rotate after stopping, by three-axle table back to zero, system closes full machine.
It should be noted in process of the test：
a）Note observation oscilloscope waveform, motor waveform should be locked without saturated phenomenon and put waveform and answer dead-beat；
b）System notes observing T1 temperature in process of the test, once more than 76 DEG C, should stop operating immediately, shutdown 10
After minute, then continuation of starting shooting is tested；
c）System notes observing output data in process of the test, once report " stable loop failure " and " lock puts failure "
Or cut flat with electricity（T3, T4 are about -200 DEG C）, three-axle table should be stopped immediately, then close full machine.
Claims (1)
1. a kind of inertial navigation system dynamic testing method, it is characterized in that the described method comprises the following steps：
1) three axles roll：
1.1) inertial navigation system is arranged on three-axle table, billing machine, confirms that system energization is normal；
1.2) oscillograph is connected on the plug that the ground inspection of inertial navigation is drawn, the orientation of monitoring system, interior rolling, pitching motor are high respectively
End and lock discharge signal waveform；
1.3) system drives full machine, normal compass alignment is completed, into navigational state；
1.4) after system is navigated 5 minutes, three axles are rolled with positive maximum angular rate simultaneously, as shown in table 1, are stopped after being kept for 30 minutes
Only roll, umber of pulse Nx, Ny of the axle of level two output is less than 50^；
1.5) three axles are rolled with negative sense maximum angular rate simultaneously, as shown in table 1, and rolling, the axle of level two are stopped after being kept for 30 minutes
Umber of pulse Nx, Ny of output is less than 50^, by turntable back to zero；
Table 1
2) three-axis swinging：
2.1) pitching and roll axle are all gone to+60 °, orientation and pitch axis are set as shown in table 2, roll axle with frequency 0.6HZ,
70 ° of settings of amplitude, three axles wave, stop waving after being kept for 15 minutes simultaneously, and umber of pulse Nx, Ny of the axle of level two output is less than 50
^；
2.2) keep pitching and roll axle at+60 °, orientation and pitch axis are set as shown in table 2, and roll axle is with frequency 10HZ, width
0.25 ° of setting of value, three axles wave, stop waving after being kept for 15 minutes simultaneously, and umber of pulse Nx, Ny of the axle of level two output is less than 50
^；
2.3) pitching and roll axle are all gone to -60 °, orientation and pitch axis are set as shown in table 2, roll axle with frequency 0.6HZ,
70 ° of settings of amplitude, three axles wave, stop waving after being kept for 15 minutes simultaneously, and umber of pulse Nx, Ny of the axle of level two output is less than 50
^；
2.4) keep pitching and roll axle at -60 °, orientation and pitch axis are set as shown in table 2, and roll axle is with frequency 10HZ, width
0.25 ° of setting of value, three axles wave, stop waving after being kept for 15 minutes simultaneously, and umber of pulse Nx, Ny of the axle of level two output is less than 50
^, by turntable back to zero；
Table 2
3) spiral：
3.1) pitch axis is gone to+20 °, roll axle goes to+80 ° of initial positions, roll axle swung from+80 ° to -80 °, simultaneously
Azimuth axis is rotated with 50 °/s counterclockwise, is stopped operating after being kept for 10 minutes, and umber of pulse Nx, Ny of the axle of level two output is less than 50
^；
3.2) pitch axis is gone to+20 °, roll axle goes to -80 ° of initial positions, roll axle swung from -80 ° to+80 °, simultaneously
Azimuth axis is rotated with 50 °/s clockwise, is stopped operating after being kept for 10 minutes, and umber of pulse Nx, Ny of the axle of level two output is less than 50
^；
3.3) pitch axis is gone to+20 °, roll axle goes to+80 ° of initial positions, azimuth axis is rotated with 180 °/s, kept clockwise
Stopped operating after 10 minutes, umber of pulse Nx, Ny of the axle of level two output is less than 50^；
3.4) pitch axis is gone to+20 °, roll axle goes to -80 ° of initial positions, azimuth axis is rotated with 180 °/s, kept counterclockwise
Stopped operating after 10 minutes, umber of pulse Nx, Ny of the axle of level two output is less than 50^；
3.5) rotate after stopping, by three-axle table back to zero, system closes full machine.
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| CN201310675186.6A CN104713572B (en) | 2013-12-11 | 2013-12-11 | A kind of inertial navigation system dynamic testing method |
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|---|---|---|---|
| CN201310675186.6A CN104713572B (en) | 2013-12-11 | 2013-12-11 | A kind of inertial navigation system dynamic testing method |
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| CN104713572B true CN104713572B (en) | 2017-10-27 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1821721A (en) * | 2006-03-27 | 2006-08-23 | 北京航空航天大学 | Precise decoupling detecting method for gyroscope scale factor and input shaft default angle |
| CN101464150A (en) * | 2009-01-09 | 2009-06-24 | 哈尔滨工程大学 | Test method for dynamic property of optical fiber gyroscope |
| CN101936738A (en) * | 2010-08-19 | 2011-01-05 | 中国航空工业第六一八研究所 | Method for improving platform inertial navigation system speed channel |
| CN102147987A (en) * | 2011-04-18 | 2011-08-10 | 中国人民解放军国防科学技术大学 | Teaching experiment device for aircraft navigation, guidance and control technology |
| CN102914307A (en) * | 2011-08-02 | 2013-02-06 | 王靖微 | Three-axis turntable with dynamic stabilization function |
-
2013
- 2013-12-11 CN CN201310675186.6A patent/CN104713572B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1821721A (en) * | 2006-03-27 | 2006-08-23 | 北京航空航天大学 | Precise decoupling detecting method for gyroscope scale factor and input shaft default angle |
| CN101464150A (en) * | 2009-01-09 | 2009-06-24 | 哈尔滨工程大学 | Test method for dynamic property of optical fiber gyroscope |
| CN101936738A (en) * | 2010-08-19 | 2011-01-05 | 中国航空工业第六一八研究所 | Method for improving platform inertial navigation system speed channel |
| CN102147987A (en) * | 2011-04-18 | 2011-08-10 | 中国人民解放军国防科学技术大学 | Teaching experiment device for aircraft navigation, guidance and control technology |
| CN102914307A (en) * | 2011-08-02 | 2013-02-06 | 王靖微 | Three-axis turntable with dynamic stabilization function |
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| CN104713572A (en) | 2015-06-17 |
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