CN106289324A - A kind of caliberating device for Inertial Measurement Unit - Google Patents
A kind of caliberating device for Inertial Measurement Unit Download PDFInfo
- Publication number
- CN106289324A CN106289324A CN201610842772.9A CN201610842772A CN106289324A CN 106289324 A CN106289324 A CN 106289324A CN 201610842772 A CN201610842772 A CN 201610842772A CN 106289324 A CN106289324 A CN 106289324A
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- Prior art keywords
- pair
- installing rack
- measurement unit
- inertial measurement
- caliberating device
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Classifications
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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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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
This application discloses a kind of caliberating device for Inertial Measurement Unit, comprising: installing rack, it has a pair first wall positioned opposite and a pair second wall positioned opposite, and each described first wall is mutually perpendicular to the second wall each described, the tetragon that outermost contour line after the direction projection in the described installing rack any one face along its six faces is formed is equal sized square, the fixed part being internally provided with fixing Inertial Measurement Unit of described installing rack；Change-over frame, it is set to the plate that inside has the hole of square shape, and the direction in the installing rack any one face along its six faces is all removably received in the hole of square shape；And turntable, its upper surface fixed transfer frame, lower section is connected with electric rotating machine, thus drives Inertial Measurement Unit to rotate around the central axis of turntable.This caliberating device uses the demountable structure of quick plug-in, can demarcate multiple Inertial Measurement Unit simultaneously, and with low cost.
Description
Technical field
The invention belongs to the calibration technique field of Inertial Measurement Unit, be specifically related to a kind of mark for Inertial Measurement Unit
Determine device.
Background technology
Inertial Measurement Unit is for Measuring Object angular velocity in three dimensions and acceleration, and calculates thing with this
The device of the attitude of body.Inertial Measurement Unit is used in the equipment needing to carry out motor control mostly, on automobile and robot, also
It is used in the occasion needing to carry out accurate displacement reckoning by attitude, such as the inertial navigation set of submarine, aircraft, guided missile and spacecraft
Deng.Inertial Measurement Unit directly fixedly mounts in a device, due to change and the Stress Release of internal device parameters, can cause
The parameter of whole Inertial Measurement Unit is continually changing in time, in order to ensure its service precision, needs periodically to demarcate.
At present, existing calibration facility and caliberating device mostly are large-scale automation equipment, utilize servomotor to realize essence
Accurate angle position swivel feeding, but price is sufficiently expensive, complex operation and maintenance inconvenience, is unfavorable for enterprise or small test
Room uses.
Accordingly, it would be desirable to a kind of precision of design is higher, easy to operate, it is convenient, with low cost for inertia measurement list to safeguard
The caliberating device of unit.
Summary of the invention
In view of drawbacks described above or deficiency present in prior art, the invention provides a kind of for Inertial Measurement Unit
Caliberating device, its at least can by low cost and easy to operate in the way of realize the demarcation of Inertial Measurement Unit.
According to an aspect of the present invention, it is provided that a kind of caliberating device for Inertial Measurement Unit, described caliberating device
May include that installing rack, it has a pair first wall positioned opposite and a pair second wall positioned opposite, and described in each
First wall is mutually perpendicular to the second wall each described so that the direction in the described installing rack any one face along its six faces is thrown
The tetragon that the outermost contour line of movie queen is formed is equal sized square, and being internally provided with of described installing rack is fixing
The fixed part of Inertial Measurement Unit；Change-over frame, it is set to the plate that inside has the hole of square shape, described installing rack edge
The direction in any one face in its six faces is all removably received in the hole of described square shape；And turntable, its
Upper surface is used for fixing described Change-over frame, and lower section is connected with electric rotating machine, thus drives Inertial Measurement Unit in turntable
Mandrel line rotates.
Preferably, the fixed part of described fixing Inertial Measurement Unit is gathering sill, and it is arranged at the relative of described installing rack
On the medial surface of the first pair of wall arranged, one end of described gathering sill is set to groove, and the other end is set to blind slot.
Preferably, described Inertial Measurement Unit can be connected with circuit board, and described circuit board is symmetrical by two side
A pair first slide blocks and a pair second slide blocks arranged are inserted and fixed to the gathering sill of described installing rack.
Preferably, described second slide block of described circuit board both sides is corresponding to one end of described blind slot, described first slide block
One end and end corresponding to described groove are provided with bolt, and groove one end of the gathering sill of described installing rack is additionally provided with can revolve
The locking plate turned, described locking plate is compressed described first slide block, and is tightened by the bolt of nut with the end of described first slide block, from
And connection has the described circuit board of inertance element be fixed in the gathering sill of described installing rack.
Alternatively, two sides of described circuit board are arranged symmetrically with a pair first slide blocks and a pair second slide blocks can lead to
Cross screw fixing on circuit boards.
Alternatively, two sides of described circuit board are arranged symmetrically with a pair first slide blocks and a pair second slide blocks can lead to
Cross viscose fixing on circuit boards.
Preferably, the quantity of described gathering sill is multipair, predetermined distance between every a pair gathering sill.
Preferably, described installing rack is corresponded to described second by a pair the first plate corresponding to described first wall and a pair
Second plate of wall is constituted, and an end face of described first plate and described second plate pass through two pins near the side of end face
Follow closely and limit relatively rotating of the two, and limited the relative movement of the two, being internally provided with of described installing rack by multiple screws
The fixed part of fixing Inertial Measurement Unit.
Preferably, the fixed part of described fixing Inertial Measurement Unit is gathering sill, and it is arranged on positioned opposite a pair
The inner side of one plate.
Caliberating device in the embodiment of the present invention uses quick plug-in demountable structure, can demarcate multiple inertia simultaneously
Measuring unit, simple to operation and with low cost, it is suitable for enterprise and uses with small-size laboratory.
It is described above in the description of the feature mentioned and feature combination and accompanying drawing below that mention and/or individually shows
Show that feature in the accompanying drawings and feature combination are available, can be used not only in the combination each specified, and can be also used in it
He combines or in single feature, without deviating from the scope of the present invention.
Accompanying drawing explanation
The detailed description to non-limiting example made by referring to the following drawings, the further feature of the present invention, mesh
And advantage will become more apparent upon.Wherein display:
Fig. 1 is the STRUCTURE DECOMPOSITION figure of the caliberating device according to embodiments of the invention；
Fig. 2 is the structural representation of the installing rack of the caliberating device according to embodiments of the invention；
Fig. 3 is the Inertial Measurement Unit assembling schematic diagram with installing rack of the caliberating device according to embodiments of the invention.
Detailed description of the invention
With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to this invention.It also should be noted that, in order to
It is easy to describe, accompanying drawing illustrate only and invent relevant part.
Fig. 1 is the STRUCTURE DECOMPOSITION figure of the caliberating device according to embodiments of the invention.As it is shown in figure 1, it is a kind of for inertia
The caliberating device 10 of measuring unit includes installing rack 1, Change-over frame 2 and turntable 3.
Installing rack 1 has a pair first wall positioned opposite and a pair second wall positioned opposite, and each first wall
It is mutually perpendicular to each second wall so that the foreign steamer after the direction projection in the installing rack 1 any one face along its six faces
The tetragon that profile is formed is equal sized square, installing rack 1 be internally provided with fixing Inertial Measurement Unit 20
Fixed part.
Change-over frame 2 is set to the plate that inside has the hole 2a of square shape, arbitrary along its six faces of installing rack 1
The direction in individual face is all removably received in the hole 2a of described square shape.
The upper surface of turntable 3 is used for fixed transfer frame 2, is connected with electric rotating machine (not shown) below, thus
Inertial Measurement Unit 20 is driven to rotate around the central axis of turntable 3.
So, when using the caliberating device 10 in the embodiment of the present invention to carry out staking-out work, first will be fixed with inertia and survey
The installing rack 1 of amount unit 20 puts into the hole 2a of the square shape of Change-over frame 2 along some face, and Change-over frame 2 is fixed on rotation
On platform 3, start the electric rotating machine below turntable 3 and rotate with drive Inertial Measurement Unit 20, when turning of Inertial Measurement Unit 20
When speed arrives the stabilized speed specified, such as 100r/min, start a direction of Inertial Measurement Unit 20 is demarcated, such as
X+ direction, reads related data, then takes out installing rack 1, is replaced by the square shape putting into Change-over frame 2 along another face
Demarcate in the 2a of hole, in the hole 2a of the square shape that the most successively the 6 of installing rack faces are respectively put into Change-over frame 2, make
The benchmark positive direction obtaining Inertial Measurement Unit is respectively facing X+, X-, Y+, Y-, Z+, Z-six direction, and rotates around central axis
Demarcate to carrying out 6 times during stabilized speed, then utilize Error Compensation Algorithm to calculate gyro zero inclined, scale factor, accelerometer
Zero data such as partially, such that it is able to complete the staking-out work of the six direction of Inertial Measurement Unit.
Fig. 2 is the structural representation of the installing rack of the caliberating device according to embodiments of the invention.Installing rack 1 can be tool
There are a pair first wall positioned opposite and the single parts of a pair second wall positioned opposite.Preferably, as in figure 2 it is shown, install
Frame 1 can also be made up of a pair the first plate 1c corresponding to the first wall and a pair the second plate 1d corresponding to the second wall, with
It is easy to processing and manufacturing, and each first plate 1c is mutually perpendicular to each second plate 1d so that installing rack 1 is along its six
The tetragon that outermost contour line after the direction projection in any one face in face is formed is equal sized square, this chi
Very little equal square is the most equal with the size of the hole 2a of the square shape of Change-over frame 2, thereby may be ensured that installing rack 1 is along it
The direction in any one face in six faces is all removably received in the hole 2a of square shape.Therefore, the first plate 1c with
The relative position needs of the second plate 1d are fixing and size remains constant, and this can realize by the following method: first
One end face and the second plate 1d of plate 1c limit relatively rotating of the two near the side of end face by two pins, and lead to
Cross multiple screw and limit the relative movement of the two.
Specifically, relative two end face of the first plate 1c is respectively arranged with two blind holes and multiple screwed hole, often
The both sides of the close end face of one the second plate 1d are respectively arranged with corresponding two through holes and multiple counter sink, and two pins divide
Not with two through holes and two blind hole interference fit of first mono-end face of plate 1c of the second plate 1d side, to limit phase
A most vertical first plate 1c and the relative position of a second plate 1d are also assembled into a right angle, use same side
A pair first plate 1c and a pair second plate 1d are joined end to end and assemble 4 right angles by method successively, then wear with multiple screws
Cross corresponding counter sink and screwed hole thus a pair first plate 1c and a pair second plate 1d are fixed as one so that install
The tetragon that outermost contour line after the direction projection in the frame 1 any one face along its six faces is formed is equal sized
Square, all can be contained in the hole 2a of square shape within Change-over frame 2.Join for small-gap suture between installing rack 1 and Change-over frame 2
Closing, the error of calibration result is affected and can be eliminated by backoff algorithm commonly used in the prior art by this gap, the most superfluous
State.
For ease of processing and assembling, four corners of the hole 2a of the square shape within Change-over frame 2 are provided with fillet.Turn
Connect frame 2 and be additionally provided with hole, multiple location, with the screwed hole corresponding to arranging on turntable 3, can be by solid for Change-over frame 2 by bolt
It is scheduled on turntable 3, as shown in Figure 1.
The fixed part of the internal fixing Inertial Measurement Unit 20 of installing rack 1 can be gathering sill, and it is arranged at the phase of installing rack 1
On medial surface to the first pair of wall arranged.It should be noted that fixed part is not limited to gathering sill, it is also possible to for other fixed knots
Configuration formula, as magnetic pole can be utilized to fix Inertial Measurement Unit 20 etc., does not the most make specifically defined.
As in figure 2 it is shown, fixed part is gathering sill 1a, it is arranged on installing rack 1 a pair first plate 1c's positioned opposite
Inner side, Inertial Measurement Unit 20 can be fixed to be electrically connected on circuit board, be inserted in gathering sill 1a by circuit board
And fix.
The quantity of gathering sill 1a can be multipair, predetermined distance between every a pair gathering sill 1a.Preset distance is i.e. protected
Demonstrate,prove multiple Inertial Measurement Unit to be inserted simultaneously into gathering sill and carry out timing signal and have enough spaces not interfere with one another, as such, it is possible to
Complete the staking-out work of multiple Inertial Measurement Unit simultaneously, improve the work efficiency demarcated.
As in figure 2 it is shown, one end of each gathering sill 1a is set to blind slot A, the other end is set to groove B.Gathering sill 1a's
Groove B one end is additionally provided with rotatable locking plate 1b.Locking plate 1b could be arranged to crescent shape, and it is fixed around groove B one end
Bearing pin rotatable.
Fig. 3 is the Inertial Measurement Unit assembling schematic diagram with installing rack of the caliberating device according to embodiments of the invention.
As it is shown on figure 3, Inertial Measurement Unit 20 and circuit board 21 connect and compose Inertial Measurement Unit assembly 20a, two of circuit board 21
Side has been arranged symmetrically with a pair first slide block 21a and a pair second slide block 21b, is inserted and fixed a pair guiding to installing rack 1
In groove 1a.A pair first slide block 21a and a pair second slide block 21b that two sides of circuit board 21 are arranged symmetrically with can pass through spiral shell
Nail is fixed on circuit board 21.A pair first slide block 21a that two sides of circuit board 21 are arranged symmetrically with and a pair second slide blocks
21b can also be fixed on circuit board 21 by viscose.
Second slide block 21b of circuit board 21 both sides places corresponding to one end of blind slot A, and the first slide block 21a corresponds to groove B
One end place and end is provided with bolt 21c, after Inertial Measurement Unit assembly 20a inserts in gathering sill 1a, rotate locking plate
1b makes it compress the first slide block 21a, and is tightened by the bolt 21c of nut 21d and the first slide block 21a end, thus will connect
The circuit board 21 having inertance element 20 is fixed in the gathering sill 1a of installing rack 1.Nut 21d can be preferably wing nut, just
In manually tightening screw thread, but it is not limited to wing nut.
Caliberating device in the embodiment of the present invention uses quick plug-in demountable structure, can demarcate multiple inertia simultaneously
Measuring unit, simple to operation and with low cost, it is suitable for enterprise and uses with small-size laboratory.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, also should contain in the case of without departing from described inventive concept simultaneously, above-mentioned technical characteristic or its equivalent feature carry out
Combination in any and other technical scheme of being formed.Such as features described above has similar merit with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (10)
1. the caliberating device for Inertial Measurement Unit, it is characterised in that described caliberating device includes:
Installing rack, it has a pair first wall positioned opposite and a pair second wall positioned opposite, and each described first
Wall is mutually perpendicular to the second wall each described so that after the direction projection in the described installing rack any one face along its six faces
The tetragon that formed of outermost contour line be equal sized square, described installing rack be internally provided with fixing inertia
The fixed part of measuring unit；
Change-over frame, it is set to the plate that inside has the hole of square shape, arbitrary along its six faces of described installing rack
The direction in individual face is all removably received in the hole of described square shape；And
Turntable, its upper surface is used for fixing described Change-over frame, and lower section is connected with electric rotating machine, thus drives Inertial Measurement Unit
Central axis around turntable rotates.
Caliberating device the most according to claim 1, it is characterised in that the fixed part of described fixing Inertial Measurement Unit is for leading
To groove, it is arranged on the medial surface of positioned opposite first pair wall of described installing rack, and one end of described gathering sill is set to
Groove, the other end is set to blind slot.
Caliberating device the most according to claim 2, it is characterised in that described Inertial Measurement Unit is connected with circuit board, institute
State a pair first slide blocks and a pair second slide blocks that circuit board is arranged symmetrically with by two side to be inserted and fixed to described peace
In the gathering sill shelved.
Caliberating device the most according to claim 3, it is characterised in that described second slide block of described circuit board both sides is corresponding
In one end of described blind slot, described first slide block is provided with bolt, described installing rack corresponding to one end and the end of described groove
Groove one end of gathering sill be additionally provided with rotatable locking plate, described locking plate compresses described first slide block, and by nut with
The bolt of the end of described first slide block is tightened, thus connection has the described circuit board of inertance element be fixed on described installing rack
Gathering sill in.
Caliberating device the most according to claim 4, it is characterised in that two sides of described circuit board be arranged symmetrically with one
First slide block and a pair second slide blocks are fixed by screws on circuit board.
Caliberating device the most according to claim 4, it is characterised in that two sides of described circuit board be arranged symmetrically with one
Fixing on circuit boards by viscose to the first slide block and a pair second slide blocks.
7. according to the caliberating device described in claim 2 or 4, it is characterised in that the quantity of described gathering sill is multipair, every a pair
Predetermined distance between gathering sill.
8. according to the caliberating device described in any one of claim 1 to 6, it is characterised in that described installing rack is corresponded to by a pair
First plate of described first wall and a pair the second plate corresponding to described second wall are constituted, an end of described first plate
Face limits the two relatively rotate near the side of end face by two pins with described second plate, and is limited by multiple screws
Make the relative movement of the two, the fixed part being internally provided with fixing Inertial Measurement Unit of described installing rack.
Caliberating device the most according to claim 8, it is characterised in that the fixed part of described fixing Inertial Measurement Unit is for leading
To groove, it is arranged on the inner side of a pair first plates positioned opposite.
Caliberating device the most according to claim 9, it is characterised in that the quantity of described gathering sill is multipair, leads for every a pair
Predetermined distance between groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842772.9A CN106289324B (en) | 2016-09-22 | 2016-09-22 | Calibration device for inertial measurement unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842772.9A CN106289324B (en) | 2016-09-22 | 2016-09-22 | Calibration device for inertial measurement unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106289324A true CN106289324A (en) | 2017-01-04 |
| CN106289324B CN106289324B (en) | 2023-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610842772.9A Active CN106289324B (en) | 2016-09-22 | 2016-09-22 | Calibration device for inertial measurement unit |
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| CN (1) | CN106289324B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111857056A (en) * | 2020-07-31 | 2020-10-30 | 东莞市中泰模具股份有限公司 | Method for generating feeding inclination of lifting plate in progressive die, storage medium and CNC (computer numerical control) machine tool |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111857056A (en) * | 2020-07-31 | 2020-10-30 | 东莞市中泰模具股份有限公司 | Method for generating feeding inclination of lifting plate in progressive die, storage medium and CNC (computer numerical control) machine tool |
| CN111857056B (en) * | 2020-07-31 | 2021-06-25 | 东莞市中泰模具股份有限公司 | Method for generating feeding inclination of lifting plate in progressive die, storage medium and CNC (computer numerical control) machine tool |
| 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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| Publication number | Publication date |
|---|---|
| CN106289324B (en) | 2023-08-29 |
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