CN105651309A - Automatic inertial navigation system calibration method, and apparatus and system thereof - Google Patents

Abstract

The invention relates to an automatic inertial navigation system calibration method, and an apparatus and a system thereof. The method comprises the following steps: adjusting an initial rotating table plane to be completely horizontal; carrying out power-on initialization on the system; pressing a connecting key to connect a product to be calibrated; and pressing a calibration key after successful connection to calibrate the product to be calibrated. The method, the apparatus and the system have the advantages of calibration precision improvement, operation mode optimization and calibration rate increase.

Description

A kind of inertial navigation system scaling method, Apparatus and system automatically

Technical field

The present invention relates to technical field of instrument calibration, particularly relate to a kind of inertial navigation system scaling method, Apparatus and system automatically.

Background technology

For the product with jerkmeter and gyrostat, each stand-alone product has different zero partially and equivalent. So, before formal use, it is very necessary for being demarcated by product. The method demarcated is generally each axis demarcating separately product jerkmeter and gyrostat.

Traditional scaling method generally uses hexahedron to demarcate mode, refers to that product is demarcated by the method for manually rotary hexahedral on level table more specifically. Although the hexahedron device structure that this kind of traditional method uses is simple, with low cost, but its shortcoming is also fairly obvious.

First, the complicated operation of tradition scaling method. Owing to the requirement of operational stability is higher, it is heavier that the weight of hexahedron generally designs, and the manual tumble ratio of operator relatively consumes muscle power. Simultaneously in the process demarcated, operator also need to coordinate different demarcation instructions, complete the complicated action of a series of upset hexahedron. Therefore the state of the art of operator is required higher, it is very difficult to grasp main points in the short period of time, even skilled operator also are easy to wrong-way occur and cause demarcating unsuccessfully. Not only time-consuming but also require great effort.

Secondly, the low precision of tradition scaling method. Owing to calibration process is accomplished manually, the accuracy of operation can not ensure every time. Meanwhile, along with the increase of hexahedron duration of service, abrasion can be produced, cause the precision demarcated more and more poorer.

Due to the restriction of above-mentioned shortcoming, traditional hexahedron scaling method is only applicable to demarcate the situation of a small amount of product. If every platform product is demarcated by product needed one by one that produce in enormous quantities, a large amount of manpower and materials so can be consumed.

Summary of the invention

In order to overcome above-mentioned the deficiencies in the prior art, design it is desirable to provide a kind of scientific and reasonable, demarcate efficiency height, calibration result accurately without the need to demarcation scaling method, the Apparatus and system of manual intervention.

To achieve the above object of the invention, the present invention provides a kind of method that automatic inertial navigation system is demarcated, and the method comprises the steps:

S1. initial turntable plane is adjusted to complete level;

S2. system electrification initialize is given;

S3. press connecting key and connect product to be calibrated;

S4. press demarcation key after successful connection and demarcate product to be calibrated;

Under optimal way, the method S3 step comprises further: S3.1, connects instruction transmission several times unsuccessful, then shows connection failure;Described S4 step comprises further: S4.1, demarcate product process in, described inward turning frame and described outward turning frame control product to be calibrated along three sensitive axes just to rotation and rotate backward, product to be calibrated is carried out rate self-calibration; Described inward turning frame and described outward turning frame control product to be calibrated and are axially perpendicular to horizontal plane static some seconds up or down along one of them of three sensitive axes directions, taking current universal gravity constant as with reference to product to be calibrated is carried out static demarcation; S4.2, after demarcation terminates, described inward turning frame and outward turning frame control product to be calibrated one of them axial upwards static some second along three sensitive axes, calibration result to be carried out static checking; Described inward turning frame and outward turning frame control product to be calibrated one of them axially rotation along three sensitive axes, and calibration result is carried out rate verification; S4.3, after demarcation terminates, automatically enters demarcation and completes state, and show whether product to be calibrated is demarcated successfully; S4.4, presses the state of products to be calibrated to be connected such as cancelling that button is back to; Described automatic production scaling method comprises step S5 further, presses cancel key and can cancel ongoing operation at any time.

Present invention also offers the system that product to be calibrated is demarcated, comprise: rate self-calibration module, for obtaining a certain axially just to rotation and counter-rotational output angle speed along three sensitive axes directions of product to be calibrated, product to be calibrated is carried out rate self-calibration; Static demarcating module, for obtain product to be calibrated along one of them of three sensitive axes directions be axially perpendicular to horizontal plane up or down static some seconds, static acceleration meter by reference of current universal gravity constant along the original measurement value of this axis, product to be calibrated is carried out static demarcation.

Under optimal way, described system comprises further: static authentication module, for obtaining product to be calibrated along reading after the correction in one of them axial upwards static some second of three sensitive axes, calibration result is carried out static checking; Rate verification module, for obtaining product to be calibrated one of them rotating forward axially rotated and reverse angle value along three sensitive axes, carries out rate verification to calibration result.

Present invention also offers a kind of inertial navigation system caliberating device automatically, this device comprises:

Base; The corner, bottom surface of described base is respectively arranged with a lower margin, described lower margin Height Adjustable;

Turntable, is connected with described base, is made up of inward turning servomotor, outward turning servomotor, inward turning frame and outward turning frame, and described inward turning frame is connected with inward turning servomotor; Described outward turning frame is connected with outward turning servomotor; Described inward turning frame is provided with the fixture or interface that match with product to be calibrated;

Control cabinet, is connected with controller and described turntable, comprises the driving mechanism of power supply module, button and described inward turning, outward turning motor; Described driving mechanism is connected with described controller;

Controller, is connected with described turntable and product to be calibrated, comprises system control panel and indicating meter; Described system control panel accepts described key-press input, controls the driving mechanism of described inward turning, outward turning motor.

Under optimal way: described inward turning frame and outward turning frame are respectively arranged with conducting slip ring; Described inward turning frame and described outward turning frame control product to be calibrated along three sensitive axes just to rotation and rotate backward, product to be calibrated is carried out rate self-calibration;Described inward turning frame and described outward turning frame control product to be calibrated and are axially perpendicular to horizontal plane static some seconds up or down along one of them of three sensitive axes directions, taking current universal gravity constant as with reference to product to be calibrated is carried out static demarcation; Described inward turning frame and described outward turning frame control product to be calibrated one of them axial upwards static some second along three sensitive axes, calibration result to be carried out static checking; Described inward turning frame and outward turning frame control product to be calibrated one of them axially rotation along three sensitive axes, and calibration result is carried out rate verification.

Advantage and the positively effect of the present invention be:

1, stated accuracy is improved: accurate levelness can be realized by regulating lower margin and pre-configured motor and regulate, use servomotor, it is possible to rotation precision is risen to 0.1 �� simultaneously, improve the accuracy of calibration result.

2, Optimizing operation mode: relative to the demarcation mode of manual rotary hexahedral, turntable is demarcated and is greatly reduced operation complexity, whole demarcation flow process only can need to be realized by several simple buttons, any production line workman, by simply learning both can complete calibration process, makes the chemical conversion of demarcation production line for possibility.

3, demarcation speed is promoted: the present invention demarcates mode with the use of turntable and improves demarcation mode and demarcate flow process, within being dropped to 5 minutes each nominal time, it is achieved that demarcated by big bulk article within the short period of time.

Accompanying drawing explanation

Fig. 1 is the mark locking control method schema of the present invention;

Fig. 2 is the structure block diagram of the present invention;

Fig. 3 is the system architecture composition schematic diagram of the present invention.

Description of reference numerals:

1-inward turning motor, 2-inward turning frame, 3-outward turning frame, 4-conducting slip ring, 5-frame, 6-base, 7-outward turning motor, 8-controller, 9-control cabinet.

Embodiment

(1) embodiment one:

As shown in Figure 1, its demarcation order and turntable rotation order are as shown in the table for the control schema of system:

In above form, " +/-" represents axial just to oppositely respectively; " position " represents static demarcation, and " speed " represents rate self-calibration.

The sequence of control of system adopts object oriented designing mode, performs corresponding function according to the state of each object current and outside input and changes Obj State.

The present invention provides a kind of automatic production scaling method, and its concrete implementation step is as follows:

Step one: the lower margin that arranges respectively of adjustment corner, base 6 bottom surface, slightly calibrates the level of turntable, goes to configure the same period to servomotor by upper computer and realizes thin horizontal adjustment, and initial turntable plane is adjusted to complete level.

Step 2: to system electrification initialize.

Step 3: press connecting key and connect product to be calibrated. If it is unsuccessful to connect instruction transmission several times, then show connection failure; If receiving product feedback information, then successful connection.

Step 4: pressing demarcation key after successful connection and demarcate product to be calibrated, now automated system operation, the inward turning frame 2 of turntable and outward turning frame 3 start to carry out the rotation or static of different angles, it is achieved the demarcation of the different posture positions of product.

In the process demarcating product, inward turning frame 2 and outward turning frame 3 control product to be calibrated and are axially perpendicular to horizontal plane static some seconds up or down along one of them of three sensitive axes directions, taking current universal gravity constant as with reference to product to be calibrated is carried out static demarcation with demarcate product jerkmeter zero partially and the zero of equivalent and gyrostat inclined.The method of calculation of static demarcation are as follows:

Under static demarcation, the jerkmeter of each flow process and gyroscope readings are as follows, and wherein the result of jerkmeter is the average to the time, and the result of gyrostat is to time integral:

Jerkmeter scaled factor calculation formula:

$\begin{array}{ccc}{K}_{ax}=\frac{X_1-X_2}{2}& K_{ay}=\frac{Y_3-Y_4}{2}& K_{az}=\frac{Z_5-Z_6}{8}\end{array}$

Jerkmeter mark zero-bit calculation formula:

$K_{ax0}=\frac{X_3+X_4+X_5+X_6}{4K_{ax}}$

$K_{ay0}=\frac{Y_1+Y_2+Y_5+Y_6}{4K_{ay}}$

$K_{az0}=\frac{Z_1+Z_2+Z_3+Z_4+Z_5+Z_6}{6K_{az}}$

Installation error calculation formula:

$\begin{array}{ccc}{A}_{xy}=\frac{Y_1-Y_2}{2K_{ax}}& A_{xz}=\frac{Z_1-Z_2}{2K_{ax}}& A_{yx}=\frac{X_3-X_4}{2K_{ay}}\end{array}$

$\begin{array}{ccc}{A}_{yz}=\frac{Z_3-Z_4}{2K_{ay}}& A_{zx}=\frac{X_5-X_6}{2K_{az}}& A_{zy}=\frac{Y_5-Y_6}{2K_{az}}\end{array}$

Meanwhile, the Zero positioning method of calculation of gyrostat three axle are:

$D_{gx0}=\frac{{\mathrm{Xg}}_1+{\mathrm{Xg}}_2+{\mathrm{Xg}}_3+{\mathrm{Xg}}_4+{\mathrm{Xg}}_5+{\mathrm{Xg}}_6}{6}$

$D_{gy0}=\frac{{\mathrm{Yg}}_1+{\mathrm{Yg}}_2+{\mathrm{Yg}}_3+{\mathrm{Yg}}_4+{\mathrm{Yg}}_5+{\mathrm{Yg}}_6}{6}$

$D_{gz0}=\frac{{\mathrm{Zg}}_1+{\mathrm{Zg}}_2+{\mathrm{Zg}}_3+{\mathrm{Zg}}_4+{\mathrm{Zg}}_5+{\mathrm{Zg}}_6}{6}$

Inward turning frame 2 and outward turning frame 3 control product to be calibrated along three sensitive axes just to rotation with rotate backward, and angle of rotation equals 90 ��, product to be calibrated is carried out rate self-calibration with demarcate product gyrostat zero partially and equivalent. The method of calculation method of rate self-calibration is as follows:

The gyroscope readings of each flow process following (its result is to time integral) under rate self-calibration:

The calculation formula of scaled factor is:

$\begin{array}{ccc}{K}_{gx}=\frac{{\mathrm{\Φ}}_{gx+}-{\mathrm{\Φ}}_{gx-}}{2\mathrm{\Φ}}& K_{gy}=\frac{{\mathrm{\Φ}}_{gy+}-{\mathrm{\Φ}}_{gy-}}{2\mathrm{\Φ}}& K_{gz}=\frac{{\mathrm{\Φ}}_{gz+}-{\mathrm{\Φ}}_{gz-}}{2\mathrm{\Φ}}\end{array}$

Installation error item calculation formula is:

$\begin{array}{ccc}{E}_{xy}=\frac{{\mathrm{\Φ}}_{gxy+}-{\mathrm{\Φ}}_{gxy-}}{2{\mathrm{\ΦK}}_{gy}}& E_{xz}=\frac{{\mathrm{\Φ}}_{gxz+}-{\mathrm{\Φ}}_{gxz-}}{2{\mathrm{\ΦK}}_{gz}}& E_{yx}=\frac{{\mathrm{\Φ}}_{gyx+}-{\mathrm{\Φ}}_{gyx-}}{2{\mathrm{\ΦK}}_{gx}}\end{array}$

$\begin{array}{ccc}{E}_{yz}=\frac{{\mathrm{\Φ}}_{gyz+}-{\mathrm{\Φ}}_{gyz-}}{2{\mathrm{\ΦK}}_{gz}}& E_{zx}=\frac{{\mathrm{\Φ}}_{gzx+}-{\mathrm{\Φ}}_{gzx-}}{2{\mathrm{\ΦK}}_{gx}}& E_{zy}=\frac{{\mathrm{\Φ}}_{gzy+}-{\mathrm{\Φ}}_{gzy-}}{2{\mathrm{\ΦK}}_{gy}}\end{array}$

The correction model of jerkmeter is as follows:

Ax=ax/Kax-Kax0;

Ay=ay/Kay-Kay0;

Az=az/Kaz-Kaz0;

Ax=Ax-Ayx*Ay-Azx*Az;

Ay=Ay-Axy*Ax-Azy*Az;

Az=Az-Axz*Ax-Ayz*Ay;

Wherein, ax, ay, az are the raw data of jerkmeter, and Ax, Ay, Az are the readings after correction, and Kax, Kay, Kaz are equivalents, and Kax0, Kay0, Kaz0 are zero partially, and Axy, Ayx, Axz, Azx, Ayz, Azy are installation errors.

The correction model of gyrostat is as follows:

Wx=gx/Kgx-Dgx0/Kgx;

Wy=gy/Kgy-Dgy0/Kgy;

Wx=gz/Kgz-Dgz0/Kgz;

Wx=Wx-Eyx*Wy-Ezx*Wz;

Wy=Wy-Exy*Wx-Ezy*Wz;

Wz=Wz-Exz*Wx-Eyz*Wy;

Wherein, gx, gy, gz are the raw data of gyrostat, and Wx, Wy, Wz are the data after correction, and Kgx, Kgy, Kgz are equivalents, and Dgx0, Dgy0, Dgz0 are zero partially, and Exy, Eyx, Exz, Ezx, Eyz, Ezy are installation errors.

Except above two kinds of demarcation modes, system also add static and rate verification, and to verify that whether calibration result is correct, verification method is as follows:

1. static checking

Equipment is put well according to position 1:X is axially static, kept for 5 seconds, cumulative to each bag Ax, Ay, Az, Wx, Wy, Wz summation in 5 seconds, then average:

(1) Ax, Ay average scope is positive and negative 0.05g;

(2) Az average scope is 0.90-1.1g;

(3) Wx, Wy, Wz average is at �� 0.1 degree/s;

Above three conditions must all meet, and it is qualified to be, otherwise defective.

2. rotate checking

By equipment:

(1) rotating forward 90 degree around Z axle, do integration by the Wz value after correction and time and calculate angle (Wz �� �� t), integration angle scope is between �� 10 degree;

(2) then reverse rotation 90 degree, integration angle scope is between �� 10 degree.

Above two conditions must all meet, and it is qualified to be, otherwise defective.

After demarcation terminates, system automatically enters demarcation and completes state, and shows whether product to be calibrated is demarcated successfully, now presses cancellation button, and system such as is back at the state of product to be calibrated to be connected.

Step 5, if needed, operator can press cancel key can cancel ongoing operation at any time. Cancel key can cancel ongoing operation, and as in connecting or demarcate medium, simultaneously also urgency for motor is stopped.

(2) embodiment two:

As shown in Figure 2, system architecture composition schematic diagram is as shown in Figure 3 for the structure block diagram of the present invention. Present invention also offers a kind of inertial navigation system caliberating device automatically, this device can be applied to and realize the scaling method described in embodiment one.This device is made up of turntable, controller 8, control cabinet 9 and base 6 four part. This device comprises: base 6; Turntable, is connected with described base 6, is made up of inward turning servomotor 1, outward turning servomotor 7, inward turning frame 2 and outward turning frame 3, and described inward turning frame 2 is connected with inward turning servomotor 1; Described outward turning frame 2 is connected with outward turning servomotor 7; Described inward turning frame 2 is provided with the fixture or interface that match with product to be calibrated, powers on and communication for fixed product and to product, and fixture or interface can be changed according to variant production size and interface type; Control cabinet 9, is connected with controller 8 and described turntable, comprises the driving mechanism of power supply module, button and described two servomotors; Described driving mechanism is connected with described controller 8; Controller 8, is connected with described turntable and product to be calibrated, comprises system control panel and indicating meter, to provide simple man-machine interaction; Described system control panel accepts key-press input, controls the driving mechanism of described servomotor, and display calibration process also carries out communication with product to be calibrated.

Under optimal way: the corner, bottom surface of base 6 is respectively arranged with a lower margin, lower margin Height Adjustable, calibrates the level of turntable; In order to increase the degree of freedom of turntable, reducing the phenomenon of wire being wound, inward turning frame 2 and outward turning frame 3 are provided with conducting slip ring 4; Controller 8 is furnished with TTL serial ports or CAN communication interface is connected with product to be calibrated, it is achieved the communication between controller 8 and product; Communication interface is expanded for difference product to be calibrated, such as I²C or SPI etc.; Controller 8 adopts DB-25 or DB-15 interface with the connection of described control cabinet 9, be convenient to can be convenient, flexible for different products more changer controller 8, the suitability of enhanced system.

The sequence of control of system adopts object oriented designing mode, performs corresponding function according to the state of each object current and outside input and changes Obj State.

Specific embodiment described herein is only to the present invention's spirit explanation for example. Described specific embodiment can be made various amendment or supplements or adopt similar mode to substitute by those skilled in the art, but can't deviate the spirit of the present invention or surmount the scope that appended claims defines.

Claims (10)

1. the method that an automatic inertial navigation system is demarcated, it is characterised in that, the method comprising the steps of:

S1. initial turntable plane is adjusted to complete level;

S2. system electrification initialize is given;

S3. press connecting key and connect product to be calibrated;

S4. press demarcation key after successful connection and demarcate product to be calibrated.

2. the method that automatic inertial navigation system according to claim 1 is demarcated, it is characterised in that, the method S3 comprises further:

It is unsuccessful that S3.1 connects instruction transmission several times, then show connection failure.

3. the method that automatic inertial navigation system according to claim 1 is demarcated, it is characterised in that, the method S4 comprises further:

S4.1 demarcate product process in, inward turning frame and outward turning frame control product to be calibrated along three sensitive axes just to rotation and rotate backward, product to be calibrated is carried out rate self-calibration; Described inward turning frame and described outward turning frame control product to be calibrated and are axially perpendicular to horizontal plane static some seconds up or down along one of them of three sensitive axes directions, taking current universal gravity constant as with reference to product to be calibrated is carried out static demarcation;

S4.2 is after demarcation terminates, and described inward turning frame and outward turning frame control product to be calibrated one of them axial upwards static some second along three sensitive axes, calibration result to be carried out static checking;Described inward turning frame and outward turning frame control product to be calibrated one of them axially rotation along three sensitive axes, and calibration result is carried out rate verification;

S4.3, after demarcation terminates, automatically enters demarcation and completes state, and show product to be calibrated whether demarcate qualified;

S4.4 presses the state of products to be calibrated to be connected such as cancelling that button is back to.

4. the method demarcated according to automatic inertial navigation system described in any claim in claim 1-3, it is characterised in that, the method also comprises:

S5. press cancel key and can cancel ongoing operation at any time.

5. a system for product to be calibrated being demarcated such as method as described in any claim in claim 1-3, it is characterised in that, comprising:

Rate self-calibration module, for obtaining a certain axially just to rotation and counter-rotational output angle speed along three sensitive axes directions of product to be calibrated, carries out rate self-calibration to product to be calibrated;

Static demarcating module, for obtain product to be calibrated along one of them of three sensitive axes directions be axially perpendicular to horizontal plane up or down static some seconds, static acceleration meter by reference of current universal gravity constant along the original measurement value of this axis, product to be calibrated is carried out static demarcation.

6. a kind of system that product to be calibrated is demarcated according to claim 5, it is characterised in that described system comprises further:

Static authentication module, for obtaining product to be calibrated along reading after the correction in one of them axial upwards static some second of three sensitive axes, carries out static checking to calibration result;

Rate verification module, for obtaining product to be calibrated one of them rotating forward axially rotated and reverse angle value along three sensitive axes, carries out rate verification to calibration result.

7. an automatic inertial navigation system caliberating device, it is characterised in that, this device comprises:

Base; The corner, bottom surface of described base is respectively arranged with a lower margin, described lower margin Height Adjustable;

Turntable, is connected with described base, is made up of inward turning motor, outward turning motor, inward turning frame and outward turning frame, and described inward turning frame is connected with inward turning motor; Described outward turning frame is connected with outward turning motor; Described inward turning frame is provided with the fixture or interface that match with product to be calibrated;

Control cabinet, is connected with controller and described turntable, comprises the driving mechanism of power supply module, button and described inward turning, outward turning motor; Described driving mechanism is connected with described controller;

Controller, is connected with described turntable and product to be calibrated, comprises system control panel and indicating meter; Described system control panel accepts described key-press input, controls the driving mechanism of described inward turning, outward turning motor.

8. the automatic inertial navigation system caliberating device of one according to claim 7, it is characterised in that: described inward turning frame and outward turning frame are respectively arranged with conducting slip ring.

9. the automatic inertial navigation system caliberating device of one according to claim 7, it is characterised in that: described inward turning frame and described outward turning frame control product to be calibrated along three sensitive axes just to rotation and rotate backward, product to be calibrated is carried out rate self-calibration; Described inward turning frame and described outward turning frame control product to be calibrated and are axially perpendicular to horizontal plane static some seconds up or down along one of them of three sensitive axes directions, taking current universal gravity constant as with reference to product to be calibrated is carried out static demarcation.

10. the automatic inertial navigation system caliberating device of one according to claim 7, it is characterized in that: described inward turning frame and described outward turning frame control product to be calibrated one of them axial upwards static some second along three sensitive axes, calibration result to be carried out static checking;Described inward turning frame and outward turning frame control product to be calibrated one of them axially rotation along three sensitive axes, and calibration result is carried out rate verification.